Navigation in vehicle crossing scenarios

ABSTRACT

Systems and methods are disclosed for navigating a host vehicle. In one implementation, at least one processor may be programmed to receive an image captured by a camera; identify an oncoming target vehicle; determine that a planned trajectory for the host vehicle includes a turn that crosses a projected trajectory of the oncoming target vehicle in a potential turn-across-path event; determine a driving jurisdiction associated with the road; determine, based on the driving jurisdiction, whether the target vehicle is approaching a road feature that negates the potential turn-across-path event; and either implement or forego implementing a remedial action based on whether the target vehicle is approaching a road feature that negates the potential turn-across-path event.

CROSS REFERENCES TO RELATED APPLICATIONS

This application claims the benefit of priority of U.S. ProvisionalApplication No. 62/777,527, filed on Dec. 10, 2018, and U.S. ProvisionalApplication No. 62/777,531, filed on Dec. 10, 2018. The foregoingapplications are incorporated herein by reference in their entirety.

BACKGROUND Technical Field

The present disclosure relates generally to advanced driver assistancesystems (ADAS), and autonomous vehicle (AV) systems.

Background Information

As technology continues to advance, the goal of a fully autonomousvehicle that is capable of navigating on roadways is on the horizon.Autonomous vehicles may need to consider a variety of factors and makeappropriate decisions based on those factors to safely and accuratelyreach an intended destination. For example, an autonomous vehicle mayneed to process and interpret visual information (e.g., informationcaptured from a camera) and may also use information obtained from othersources (e.g., from a GPS device, a speed sensor, an accelerometer, asuspension sensor, etc.). At the same time, in order to navigate to adestination, an autonomous vehicle may also need to identify itslocation within a particular roadway (e.g., a specific lane within amulti-lane road), navigate alongside other vehicles, avoid obstacles andpedestrians, observe traffic signals and signs, and travel from on roadto another road at appropriate intersections or interchanges. Harnessingand interpreting vast volumes of information collected by an autonomousvehicle as it travels to its destination poses a multitude of designchallenges. The sheer quantity of data (e.g., captured image data, mapdata, GPS data, sensor data, etc.) that an autonomous vehicle may needto analyze, access, and/or store poses challenges that can in fact limitor even adversely affect autonomous navigation. Furthermore, if anautonomous vehicle relies on traditional mapping technology to navigate,the sheer volume of data needed to store and update the map posesdaunting challenges.

SUMMARY

Embodiments consistent with the present disclosure provide systems andmethods for autonomous vehicle navigation. The disclosed embodiments mayuse cameras to provide autonomous vehicle navigation features. Forexample, consistent with the disclosed embodiments, the disclosedsystems may include one, two, or more cameras that monitor theenvironment of a vehicle. The disclosed systems may provide anavigational response based on, for example, an analysis of imagescaptured by one or more of the cameras. The navigational response mayalso consider other data including, for example, global positioningsystem (GPS) data, sensor data (e.g., from an accelerometer, a speedsensor, a suspension sensor, etc.), and/or other map data.

A navigation system for a host vehicle may include at least oneprocessor programmed to: receive, from a camera, one or more imagesrepresentative of an environment of the host vehicle; identify, based onanalysis of the one or more images, an oncoming target vehicle in theenvironment of the host vehicle, wherein the oncoming target vehicle isassociated with a projected trajectory of the oncoming target vehicle,the projected trajectory being indicated by at least one aspect of arepresentation of the oncoming target vehicle in the one or more images;determine that a planned trajectory for the host vehicle crosses theprojected trajectory of the oncoming target vehicle and is indicative ofa potential turn-across-path event; determine a remedial action for thehost vehicle in response to the oncoming target vehicle and thepotential turn-across-path event; implement the remedial action if theoncoming target vehicle is determined to be not approaching a roadfeature that negates the potential turn-across-path event; and foregothe remedial action for the host vehicle in response to the oncomingtarget vehicle and the potential turn-across-path event if the oncomingtarget vehicle is determined to be approaching a road feature thatnegates the potential turn-across-path event.

A method for navigating a host vehicle may include receiving, from acamera, one or more images representative of an environment of the hostvehicle; identifying, based on analysis of the one or more images, anoncoming target vehicle in the environment of the host vehicle, whereinthe oncoming target vehicle is associated with a projected trajectory ofthe oncoming target vehicle, the projected trajectory being indicated byat least one aspect of a representation of the oncoming target vehiclein the one or more images; determining that a planned trajectory for thehost vehicle crosses the projected trajectory of the oncoming targetvehicle and is indicative of a potential turn-across-path event;determining a remedial action for the host vehicle in response to theoncoming target vehicle and the potential turn-across-path event;implementing the remedial action if the oncoming target vehicle isdetermined to be not approaching a road feature that negates thepotential turn-across-path event; and foregoing the remedial action forthe host vehicle in response to the oncoming target vehicle and thepotential turn-across-path event if the oncoming target vehicle isdetermined to be approaching a road feature that negates the potentialturn-across-path event.

Consistent with other disclosed embodiments, non-transitorycomputer-readable storage media may store program instructions, whichare executed by at least one processing device and perform any of themethods described herein.

The foregoing general description and the following detailed descriptionare exemplary and explanatory only and are not restrictive of theclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this disclosure, illustrate various disclosed embodiments. Inthe drawings:

FIG. 1 is a diagrammatic representation of an exemplary systemconsistent with the disclosed embodiments.

FIG. 2A is a diagrammatic side view representation of an exemplaryvehicle including a system consistent with the disclosed embodiments.

FIG. 2B is a diagrammatic top view representation of the vehicle andsystem shown in FIG. 2A consistent with the disclosed embodiments.

FIG. 2C is a diagrammatic top view representation of another embodimentof a vehicle including a system consistent with the disclosedembodiments.

FIG. 2D is a diagrammatic top view representation of yet anotherembodiment of a vehicle including a system consistent with the disclosedembodiments.

FIG. 2E is a diagrammatic top view representation of yet anotherembodiment of a vehicle including a system consistent with the disclosedembodiments.

FIG. 2F is a diagrammatic representation of exemplary vehicle controlsystems consistent with the disclosed embodiments.

FIG. 3A is a diagrammatic representation of an interior of a vehicleincluding a rearview mirror and a user interface for a vehicle imagingsystem consistent with the disclosed embodiments.

FIG. 3B is an illustration of an example of a camera mount that isconfigured to be positioned behind a rearview mirror and against avehicle windshield consistent with the disclosed embodiments.

FIG. 3C is an illustration of the camera mount shown in FIG. 3B from adifferent perspective consistent with the disclosed embodiments.

FIG. 3D is an illustration of an example of a camera mount that isconfigured to be positioned behind a rearview mirror and against avehicle windshield consistent with the disclosed embodiments.

FIG. 4 is an exemplary block diagram of a memory configured to storeinstructions for performing one or more operations consistent with thedisclosed embodiments.

FIG. 5A is a flowchart showing an exemplary process for causing one ormore navigational responses based on monocular image analysis consistentwith disclosed embodiments.

FIG. 5B is a flowchart showing an exemplary process for detecting one ormore vehicles and/or pedestrians in a set of images consistent with thedisclosed embodiments.

FIG. 5C is a flowchart showing an exemplary process for detecting roadmarks and/or lane geometry information in a set of images consistentwith the disclosed embodiments.

FIG. 5D is a flowchart showing an exemplary process for detectingtraffic lights in a set of images consistent with the disclosedembodiments.

FIG. 5E is a flowchart showing an exemplary process for causing one ormore navigational responses based on a vehicle path consistent with thedisclosed embodiments.

FIG. 5F is a flowchart showing an exemplary process for determiningwhether a leading vehicle is changing lanes consistent with thedisclosed embodiments.

FIG. 6 is a flowchart showing an exemplary process for causing one ormore navigational responses based on stereo image analysis consistentwith the disclosed embodiments.

FIG. 7 is a flowchart showing an exemplary process for causing one ormore navigational responses based on an analysis of three sets of imagesconsistent with the disclosed embodiments.

FIG. 8 is a flow chart illustration of a method of processing images toprovide a trained system consistent with the disclosed embodiments.

FIGS. 9A-9C are graphical illustrations of features of the method ofprocessing images to provide a trained system consistent with thedisclosed embodiments.

FIG. 10 is a graphical illustration of certain aspects of a method ofestimating a future path ahead of a current location of a vehicleconsistent with the disclosed embodiments.

FIG. 11 is a flow chart illustration of a method of estimating a futurepath ahead of a current location of a vehicle, according to examples ofthe presently disclosed subject matter.

FIG. 12A illustrates an image of an environment ahead of a vehiclenavigating a road consistent with some disclosed embodiments.

FIG. 12B illustrates an image of an environment ahead of a vehiclenavigating a road consistent with some disclosed embodiments.

FIG. 13 illustrates an image that is provided to a system during atraining phase consistent with some disclosed embodiments.

FIG. 14 illustrates an image that is provided to a system during atraining phase consistent with some disclosed embodiments.

FIGS. 15A and 15B are graphical illustrations of certain aspects oftraining a system consistent with some disclosed embodiments.

FIGS. 16A and 16B illustrate images including estimated future pathsconsistent with the disclosed embodiments.

FIGS. 17A and 17B illustrate additional images including estimatedfuture paths consistent with the disclosed embodiments.

FIG. 18 illustrates an input image with virtual lane marks added to marka highway exist, consistent with the disclosed embodiments.

FIG. 19 shows a sparse map for providing autonomous vehicle navigation,consistent with the disclosed embodiments.

FIG. 20A illustrates a polynomial representation of a portions of a roadsegment consistent with the disclosed embodiments.

FIG. 20B illustrates a curve in three-dimensional space representing atarget trajectory of a vehicle, for a particular road segment, includedin a sparse map consistent with the disclosed embodiments.

FIG. 21 illustrates example landmarks that may be included in sparse mapconsistent with the disclosed embodiments.

FIG. 22A shows polynomial representations of trajectories consistentwith the disclosed embodiments.

FIGS. 22B and 22C show target trajectories along a multi-lane roadconsistent with disclosed embodiments.

FIG. 22D shows an example road signature profile consistent withdisclosed embodiments.

FIG. 23 is a schematic illustration of a system that uses crowd sourcingdata received from a plurality of vehicles for autonomous vehiclenavigation, consistent with the disclosed embodiments.

FIG. 24 illustrates an example autonomous vehicle road navigation modelrepresented by a plurality of three dimensional splines, consistent withthe disclosed embodiments.

FIG. 25 illustrates a block diagram of a server consistent with thedisclosed embodiments.

FIG. 26 illustrates a block diagram of a memory consistent with thedisclosed embodiments.

FIG. 27 illustrates a process of clustering vehicle trajectoriesassociated with vehicles, consistent with the disclosed embodiments.

FIG. 28 illustrates a navigation system for a vehicle, which may be usedfor autonomous navigation, consistent with the disclosed embodiments.

FIG. 29 is a flowchart showing an example process for processing vehiclenavigation information for use in autonomous vehicle navigation,consistent with the disclosed embodiments.

FIG. 30 is a flowchart showing an example process performed by anavigation system of a vehicle, consistent with the disclosedembodiments.

FIG. 31 is a diagrammatic top view representation of an exemplaryvehicle including a system consistent with the disclosed embodiments inwhich the vehicle navigates using a landmark.

FIG. 32 is another diagrammatic top view representation of an exemplaryvehicle including a system consistent with the disclosed embodiments inwhich the vehicle navigates using a landmark.

FIG. 33 is a flowchart showing an exemplary process for navigating anexemplary vehicle using a landmark.

FIG. 34 shows an exemplary remote server in communication a vehicle,consistent with the disclosed embodiments.

FIG. 35 shows a vehicle navigating along a multi-lane road, consistentwith disclosed embodiments.

FIG. 36 shows a vehicle navigating using target trajectories along amulti-lane road, consistent with disclosed embodiments.

FIG. 37 shows an example of a road signature profile, consistent withthe disclosed embodiments.

FIG. 38 illustrates an exemplary environment, consistent with thedisclosed embodiments.

FIG. 39 is a flow chart showing an exemplary process for sparse mapautonomous vehicle navigation, consistent with the disclosedembodiments.

FIG. 40 illustrates an example situation where image, directional, anddistance inputs can be used in generating a planned trajectory for ahost vehicle, according to exemplary disclosed embodiments.

FIG. 41 illustrates an example situation where image, directional, anddistance inputs can be used in generating a planned trajectory for ahost vehicle, according to exemplary disclosed embodiments.

FIG. 42 illustrates an example situation where image, directional, anddistance inputs can be used in generating a planned trajectory for ahost vehicle, according to exemplary disclosed embodiments.

FIG. 43 illustrates an example situation where image, directional, anddistance inputs can be used in generating a planned trajectory for ahost vehicle, according to exemplary disclosed embodiments.

FIG. 44A provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle trajectory crossing a trajectory of a targetvehicle in a right lane driving jurisdiction;

FIG. 44B provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle trajectory crossing a trajectory of a targetvehicle in a left lane driving jurisdiction;

FIG. 45A provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle trajectory overlapping with a trajectory of atarget vehicle in a right lane driving jurisdiction;

FIG. 45B provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle trajectory overlapping with a trajectory of atarget vehicle in a left lane driving jurisdiction;

FIG. 46A provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle trajectory overlapping with a trajectory of atarget vehicle in a right lane driving jurisdiction;

FIG. 46B provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle trajectory overlapping with a trajectory of atarget vehicle in a left lane driving jurisdiction;

FIG. 47 provides a diagrammatic illustration of a driving scenarioinvolving a planned trajectory for a host vehicle intersecting with acurrent trajectory of a target vehicle in a right lane drivingjurisdiction;

FIG. 48 provides a perspective illustration of the driving scenariorepresented by FIG. 47 .

FIG. 49 is a flow chart showing an example process for autonomousnavigation in vehicle crossing scenarios consistent with the disclosedembodiments.

DETAILED DESCRIPTION

The following detailed description refers to the accompanying drawings.Wherever possible, the same reference numbers are used in the drawingsand the following description to refer to the same or similar parts.While several illustrative embodiments are described herein,modifications, adaptations and other implementations are possible. Forexample, substitutions, additions or modifications may be made to thecomponents illustrated in the drawings, and the illustrative methodsdescribed herein may be modified by substituting, reordering, removing,or adding steps to the disclosed methods. Accordingly, the followingdetailed description is not limited to the disclosed embodiments andexamples. Instead, the proper scope is defined by the appended claims.

Autonomous Vehicle Overview

As used throughout this disclosure, the term “autonomous vehicle” refersto a vehicle capable of implementing at least one navigational changewithout driver input. A “navigational change” refers to a change in oneor more of steering, braking, or acceleration of the vehicle. To beautonomous, a vehicle need not be fully automatic (e.g., fully operationwithout a driver or without driver input). Rather, an autonomous vehicleincludes those that can operate under driver control during certain timeperiods and without driver control during other time periods. Autonomousvehicles may also include vehicles that control only some aspects ofvehicle navigation, such as steering (e.g., to maintain a vehicle coursebetween vehicle lane constraints), but may leave other aspects to thedriver (e.g., braking). In some cases, autonomous vehicles may handlesome or all aspects of braking, speed control, and/or steering of thevehicle.

As human drivers typically rely on visual cues and observations order tocontrol a vehicle, transportation infrastructures are built accordingly,with lane markings, traffic signs, and traffic lights are all designedto provide visual information to drivers. In view of these designcharacteristics of transportation infrastructures, an autonomous vehiclemay include a camera and a processing unit that analyzes visualinformation captured from the environment of the vehicle. The visualinformation may include, for example, components of the transportationinfrastructure (e.g., lane markings, traffic signs, traffic lights,etc.) that are observable by drivers and other obstacles (e.g., othervehicles, pedestrians, debris, etc.). Additionally, an autonomousvehicle may also use stored information, such as information thatprovides a model of the vehicle's environment when navigating. Forexample, the vehicle may use GPS data, sensor data (e.g., from anaccelerometer, a speed sensor, a suspension sensor, etc.), and/or othermap data to provide information related to its environment while it istraveling, and the vehicle (as well as other vehicles) may use theinformation to localize itself on the model.

In some embodiments in this disclosure, an autonomous vehicle may useinformation obtained while navigating (e.g., from a camera, GPS device,an accelerometer, a speed sensor, a suspension sensor, etc.). In otherembodiments, an autonomous vehicle may use information obtained frompast navigations by the vehicle (or by other vehicles) while navigating.In yet other embodiments, an autonomous vehicle may use a combination ofinformation obtained while navigating and information obtained from pastnavigations. The following sections provide an overview of a systemconsistent with the disclosed embodiments, following by an overview of aforward-facing imaging system and methods consistent with the system.The sections that follow disclose systems and methods for constructing,using, and updating a sparse map for autonomous vehicle navigation.

System Overview

FIG. 1 is a block diagram representation of a system 100 consistent withthe exemplary disclosed embodiments. System 100 may include variouscomponents depending on the requirements of a particular implementation.In some embodiments, system 100 may include a processing unit 110, animage acquisition unit 120, a position sensor 130, one or more memoryunits 140, 150, a map database 160, a user interface 170, and a wirelesstransceiver 172. Processing unit 110 may include one or more processingdevices. In some embodiments, processing unit 110 may include anapplications processor 180, an image processor 190, or any othersuitable processing device. Similarly, image acquisition unit 120 mayinclude any number of image acquisition devices and components dependingon the requirements of a particular application. In some embodiments,image acquisition unit 120 may include one or more image capture devices(e.g., cameras), such as image capture device 122, image capture device124, and image capture device 126. System 100 may also include a datainterface 128 communicatively connecting processing device 110 to imageacquisition device 120. For example, data interface 128 may include anywired and/or wireless link or links for transmitting image data acquiredby image accusation device 120 to processing unit 110.

Wireless transceiver 172 may include one or more devices configured toexchange transmissions over an air interface to one or more networks(e.g., cellular, the Internet, etc.) by use of a radio frequency,infrared frequency, magnetic field, or an electric field. Wirelesstransceiver 172 may use any known standard to transmit and/or receivedata (e.g., Wi-Fi, Bluetooth®, Bluetooth Smart, 802.15.4, ZigBee, etc.).

Both applications processor 180 and image processor 190 may includevarious types of processing devices. For example, either or both ofapplications processor 180 and image processor 190 may include amicroprocessor, preprocessors (such as an image preprocessor), graphicsprocessors, a central processing unit (CPU), support circuits, digitalsignal processors, integrated circuits, memory, or any other types ofdevices suitable for running applications and for image processing andanalysis. In some embodiments, applications processor 180 and/or imageprocessor 190 may include any type of single or multi-core processor,mobile device microcontroller, central processing unit, etc. Variousprocessing devices may be used, including, for example, processorsavailable from manufacturers such as Intel®, AMD®, etc. and may includevarious architectures (e.g., x86 processor, ARM®, etc.).

In some embodiments, applications processor 180 and/or image processor190 may include any of the EyeQ series of processor chips available fromMobileye®. These processor designs each include multiple processingunits with local memory and instruction sets. Such processors mayinclude video inputs for receiving image data from multiple imagesensors and may also include video out capabilities. In one example, theEyeQ2® uses 90 nm-micron technology operating at 332 Mhz. The EyeQ2®architecture consists of two floating point, hyper-thread 32-bit RISCCPUs (MIPS32® 34K® cores), five Vision Computing Engines (VCE), threeVector Microcode Processors (VMP®), Denali 64-bit Mobile DDR Controller,128-bit internal Sonics Interconnect, dual 16-bit Video input and 18-bitVideo output controllers, 16 channels DMA and several peripherals. TheMIPS34K CPU manages the five VCEs, three VMP™ and the DMA, the secondMIPS34K CPU and the multi-channel DMA as well as the other peripherals.The five VCEs, three VMP® and the MIPS34K CPU can perform intensivevision computations required by multi-function bundle applications. Inanother example, the EyeQ3®, which is a third-generation processor andis six times more powerful that the EyeQ2®, may be used in the disclosedembodiments.

Any of the processing devices disclosed herein may be configured toperform certain functions. Configuring a processing device, such as anyof the described EyeQ processors or other controller or microprocessor,to perform certain functions may include programming of computerexecutable instructions and making those instructions available to theprocessing device for execution during operation of the processingdevice. In some embodiments, configuring a processing device may includeprogramming the processing device directly with architecturalinstructions. In other embodiments, configuring a processing device mayinclude storing executable instructions on a memory that is accessibleto the processing device during operation. For example, the processingdevice may access the memory to obtain and execute the storedinstructions during operation.

While FIG. 1 depicts two separate processing devices included inprocessing unit 110, more or fewer processing devices may be used. Forexample, in some embodiments, a single processing device may be used toaccomplish the tasks of applications processor 180 and image processor190. In other embodiments, these tasks may be performed by more than twoprocessing devices. Further, in some embodiments, system 100 may includeone or more of processing unit 110 without including other components,such as image acquisition unit 120.

Processing unit 110 may comprise various types of devices. For example,processing unit 110 may include various devices, such as a controller,an image preprocessor, a central processing unit (CPU), supportcircuits, digital signal processors, integrated circuits, memory, or anyother types of devices for image processing and analysis. The imagepreprocessor may include a video processor for capturing, digitizing andprocessing the imagery from the image sensors. The CPU may comprise anynumber of microcontrollers or microprocessors. The support circuits maybe any number of circuits generally well known in the art, includingcache, power supply, clock and input-output circuits. The memory maystore software that, when executed by the processor, controls theoperation of the system. The memory may include databases and imageprocessing software. The memory may comprise any number of random accessmemories, read only memories, flash memories, disk drives, opticalstorage, tape storage, removable storage and other types of storage. Inone instance, the memory may be separate from the processing unit 110.In another instance, the memory may be integrated into the processingunit 110.

Each memory 140, 150 may include software instructions that whenexecuted by a processor (e.g., applications processor 180 and/or imageprocessor 190), may control operation of various aspects of system 100.These memory units may include various databases and image processingsoftware. The memory units may include random access memory, read onlymemory, flash memory, disk drives, optical storage, tape storage,removable storage and/or any other types of storage. In someembodiments, memory units 140, 150 may be separate from the applicationsprocessor 180 and/or image processor 190. In other embodiments, thesememory units may be integrated into applications processor 180 and/orimage processor 190.

Position sensor 130 may include any type of device suitable fordetermining a location associated with at least one component of system100. In some embodiments, position sensor 130 may include a GPSreceiver. Such receivers can determine a user position and velocity byprocessing signals broadcasted by global positioning system satellites.Position information from position sensor 130 may be made available toapplications processor 180 and/or image processor 190.

In some embodiments, system 100 may include components such as a speedsensor (e.g., a tachometer) for measuring a speed of vehicle 200 and/oran accelerometer for measuring acceleration of vehicle 200.

User interface 170 may include any device suitable for providinginformation to or for receiving inputs from one or more users of system100. In some embodiments, user interface 170 may include user inputdevices, including, for example, a touchscreen, microphone, keyboard,pointer devices, track wheels, cameras, knobs, buttons, etc. With suchinput devices, a user may be able to provide information inputs orcommands to system 100 by typing instructions or information, providingvoice commands, selecting menu options on a screen using buttons,pointers, or eye-tracking capabilities, or through any other suitabletechniques for communicating information to system 100.

User interface 170 may be equipped with one or more processing devicesconfigured to provide and receive information to or from a user andprocess that information for use by, for example, applications processor180. In some embodiments, such processing devices may executeinstructions for recognizing and tracking eye movements, receiving andinterpreting voice commands, recognizing and interpreting touches and/orgestures made on a touchscreen, responding to keyboard entries or menuselections, etc. In some embodiments, user interface 170 may include adisplay, speaker, tactile device, and/or any other devices for providingoutput information to a user.

Map database 160 may include any type of database for storing map datauseful to system 100. In some embodiments, map database 160 may includedata relating to the position, in a reference coordinate system, ofvarious items, including roads, water features, geographic features,businesses, points of interest, restaurants, gas stations, etc. Mapdatabase 160 may store not only the locations of such items, but alsodescriptors relating to those items, including, for example, namesassociated with any of the stored features. In some embodiments, mapdatabase 160 may be physically located with other components of system100. Alternatively or additionally, map database 160 or a portionthereof may be located remotely with respect to other components ofsystem 100 (e.g., processing unit 110). In such embodiments, informationfrom map database 160 may be downloaded over a wired or wireless dataconnection to a network (e.g., over a cellular network and/or theInternet, etc.).

Image capture devices 122, 124, and 126 may each include any type ofdevice suitable for capturing at least one image from an environment.Moreover, any number of image capture devices may be used to acquireimages for input to the image processor. Some embodiments may includeonly a single image capture device, while other embodiments may includetwo, three, or even four or more image capture devices. Image capturedevices 122, 124, and 126 will be further described with reference toFIGS. 2B-2E, below.

System 100, or various components thereof, may be incorporated intovarious different platforms. In some embodiments, system 100 may beincluded on a vehicle 200, as shown in FIG. 2A. For example, vehicle 200may be equipped with a processing unit 110 and any of the othercomponents of system 100, as described above relative to FIG. 1 . Whilein some embodiments vehicle 200 may be equipped with only a single imagecapture device (e.g., camera), in other embodiments, such as thosediscussed in connection with FIGS. 2B-2E, multiple image capture devicesmay be used. For example, either of image capture devices 122 and 124 ofvehicle 200, as shown in FIG. 2A, may be part of an ADAS (AdvancedDriver Assistance Systems) imaging set.

The image capture devices included on vehicle 200 as part of the imageacquisition unit 120 may be positioned at any suitable location. In someembodiments, as shown in FIGS. 2A-2E and 3A-3C, image capture device 122may be located in the vicinity of the rearview mirror. This position mayprovide a line of sight similar to that of the driver of vehicle 200,which may aid in determining what is and is not visible to the driver.Image capture device 122 may be positioned at any location near therearview mirror, but placing image capture device 122 on the driver sideof the mirror may further aid in obtaining images representative of thedriver's field of view and/or line of sight.

Other locations for the image capture devices of image acquisition unit120 may also be used. For example, image capture device 124 may belocated on or in a bumper of vehicle 200. Such a location may beespecially suitable for image capture devices having a wide field ofview. The line of sight of bumper-located image capture devices can bedifferent from that of the driver and, therefore, the bumper imagecapture device and driver may not always see the same objects. The imagecapture devices (e.g., image capture devices 122, 124, and 126) may alsobe located in other locations. For example, the image capture devicesmay be located on or in one or both of the side mirrors of vehicle 200,on the roof of vehicle 200, on the hood of vehicle 200, on the trunk ofvehicle 200, on the sides of vehicle 200, mounted on, positioned behind,or positioned in front of any of the windows of vehicle 200, and mountedin or near light figures on the front and/or back of vehicle 200, etc.

In addition to image capture devices, vehicle 200 may include variousother components of system 100. For example, processing unit 110 may beincluded on vehicle 200 either integrated with or separate from anengine control unit (ECU) of the vehicle. Vehicle 200 may also beequipped with a position sensor 130, such as a GPS receiver and may alsoinclude a map database 160 and memory units 140 and 150.

As discussed earlier, wireless transceiver 172 may and/or receive dataover one or more networks (e.g., cellular networks, the Internet, etc.).For example, wireless transceiver 172 may upload data collected bysystem 100 to one or more servers, and download data from the one ormore servers. Via wireless transceiver 172, system 100 may receive, forexample, periodic or on demand updates to data stored in map database160, memory 140, and/or memory 150. Similarly, wireless transceiver 172may upload any data (e.g., images captured by image acquisition unit120, data received by position sensor 130 or other sensors, vehiclecontrol systems, etc.) from by system 100 and/or any data processed byprocessing unit 110 to the one or more servers.

System 100 may upload data to a server (e.g., to the cloud) based on aprivacy level setting. For example, system 100 may implement privacylevel settings to regulate or limit the types of data (includingmetadata) sent to the server that may uniquely identify a vehicle and ordriver/owner of a vehicle. Such settings may be set by user via, forexample, wireless transceiver 172, be initialized by factory defaultsettings, or by data received by wireless transceiver 172.

In some embodiments, system 100 may upload data according to a “high”privacy level, and under setting a setting, system 100 may transmit data(e.g., location information related to a route, captured images, etc.)without any details about the specific vehicle and/or driver/owner. Forexample, when uploading data according to a “high” privacy setting,system 100 may not include a vehicle identification number (VIN) or aname of a driver or owner of the vehicle, and may instead of transmitdata, such as captured images and/or limited location informationrelated to a route.

Other privacy levels are contemplated. For example, system 100 maytransmit data to a server according to an “intermediate” privacy leveland include additional information not included under a “high” privacylevel, such as a make and/or model of a vehicle and/or a vehicle type(e.g., a passenger vehicle, sport utility vehicle, truck, etc.). In someembodiments, system 100 may upload data according to a “low” privacylevel. Under a “low” privacy level setting, system 100 may upload dataand include information sufficient to uniquely identify a specificvehicle, owner/driver, and/or a portion or entirely of a route traveledby the vehicle. Such “low” privacy level data may include one or moreof, for example, a VIN, a driver/owner name, an origination point of avehicle prior to departure, an intended destination of the vehicle, amake and/or model of the vehicle, a type of the vehicle, etc.

FIG. 2A is a diagrammatic side view representation of an exemplaryvehicle imaging system consistent with the disclosed embodiments. FIG.2B is a diagrammatic top view illustration of the embodiment shown inFIG. 2A. As illustrated in FIG. 2B, the disclosed embodiments mayinclude a vehicle 200 including in its body a system 100 with a firstimage capture device 122 positioned in the vicinity of the rearviewmirror and/or near the driver of vehicle 200, a second image capturedevice 124 positioned on or in a bumper region (e.g., one of bumperregions 210) of vehicle 200, and a processing unit 110.

As illustrated in FIG. 2C, image capture devices 122 and 124 may both bepositioned in the vicinity of the rearview mirror and/or near the driverof vehicle 200. Additionally, while two image capture devices 122 and124 are shown in FIGS. 2B and 2C, it should be understood that otherembodiments may include more than two image capture devices. Forexample, in the embodiments shown in FIGS. 2D and 2E, first, second, andthird image capture devices 122, 124, and 126, are included in thesystem 100 of vehicle 200.

As illustrated in FIG. 2D, image capture device 122 may be positioned inthe vicinity of the rearview mirror and/or near the driver of vehicle200, and image capture devices 124 and 126 may be positioned on or in abumper region (e.g., one of bumper regions 210) of vehicle 200. And asshown in FIG. 2E, image capture devices 122, 124, and 126 may bepositioned in the vicinity of the rearview mirror and/or near the driverseat of vehicle 200. The disclosed embodiments are not limited to anyparticular number and configuration of the image capture devices, andthe image capture devices may be positioned in any appropriate locationwithin and/or on vehicle 200.

It is to be understood that the disclosed embodiments are not limited tovehicles and could be applied in other contexts. It is also to beunderstood that disclosed embodiments are not limited to a particulartype of vehicle 200 and may be applicable to all types of vehiclesincluding automobiles, trucks, trailers, and other types of vehicles.

The first image capture device 122 may include any suitable type ofimage capture device. Image capture device 122 may include an opticalaxis. In one instance, the image capture device 122 may include anAptina M9V024 WVGA sensor with a global shutter. In other embodiments,image capture device 122 may provide a resolution of 1280×960 pixels andmay include a rolling shutter. Image capture device 122 may includevarious optical elements. In some embodiments one or more lenses may beincluded, for example, to provide a desired focal length and field ofview for the image capture device. In some embodiments, image capturedevice 122 may be associated with a 6 mm lens or a 12 mm lens. In someembodiments, image capture device 122 may be configured to captureimages having a desired field-of-view (FOV) 202, as illustrated in FIG.2D. For example, image capture device 122 may be configured to have aregular FOV, such as within a range of 40 degrees to 56 degrees,including a 46 degree FOV, degree FOV, 52 degree FOV, or greater.Alternatively, image capture device 122 may be configured to have anarrow FOV in the range of 23 to 40 degrees, such as a 28 degree FOV or36 degree FOV. In addition, image capture device 122 may be configuredto have a wide FOV in the range of 100 to 180 degrees. In someembodiments, image capture device 122 may include a wide angle bumpercamera or one with up to a 180 degree FOV. In some embodiments, imagecapture device 122 may be a 7.2M pixel image capture device with anaspect ratio of about 2:1 (e.g., H×V=3800×1900 pixels) with about 100degree horizontal FOV. Such an image capture device may be used in placeof a three image capture device configuration. Due to significant lensdistortion, the vertical FOV of such an image capture device may besignificantly less than 50 degrees in implementations in which the imagecapture device uses a radially symmetric lens. For example, such a lensmay not be radially symmetric which would allow for a vertical FOVgreater than 50 degrees with 100 degree horizontal FOV.

The first image capture device 122 may acquire a plurality of firstimages relative to a scene associated with the vehicle 200. Each of theplurality of first images may be acquired as a series of image scanlines, which may be captured using a rolling shutter. Each scan line mayinclude a plurality of pixels.

The first image capture device 122 may have a scan rate associated withacquisition of each of the first series of image scan lines. The scanrate may refer to a rate at which an image sensor can acquire image dataassociated with each pixel included in a particular scan line.

Image capture devices 122, 124, and 126 may contain any suitable typeand number of image sensors, including CCD sensors or CMOS sensors, forexample. In one embodiment, a CMOS image sensor may be employed alongwith a rolling shutter, such that each pixel in a row is read one at atime, and scanning of the rows proceeds on a row-by-row basis until anentire image frame has been captured. In some embodiments, the rows maybe captured sequentially from top to bottom relative to the frame.

In some embodiments, one or more of the image capture devices (e.g.,image capture devices 122, 124, and 126) disclosed herein may constitutea high resolution imager and may have a resolution greater than 5Mpixel, 7M pixel, 10M pixel, or greater.

The use of a rolling shutter may result in pixels in different rowsbeing exposed and captured at different times, which may cause skew andother image artifacts in the captured image frame. On the other hand,when the image capture device 122 is configured to operate with a globalor synchronous shutter, all of the pixels may be exposed for the sameamount of time and during a common exposure period. As a result, theimage data in a frame collected from a system employing a global shutterrepresents a snapshot of the entire FOV (such as FOV 202) at aparticular time. In contrast, in a rolling shutter application, each rowin a frame is exposed and data is capture at different times. Thus,moving objects may appear distorted in an image capture device having arolling shutter. This phenomenon will be described in greater detailbelow.

The second image capture device 124 and the third image capturing device126 may be any type of image capture device. Like the first imagecapture device 122, each of image capture devices 124 and 126 mayinclude an optical axis. In one embodiment, each of image capturedevices 124 and 126 may include an Aptina M9V024 WVGA sensor with aglobal shutter. Alternatively, each of image capture devices 124 and 126may include a rolling shutter. Like image capture device 122, imagecapture devices 124 and 126 may be configured to include various lensesand optical elements. In some embodiments, lenses associated with imagecapture devices 124 and 126 may provide FOVs (such as FOVs 204 and 206)that are the same as, or narrower than, a FOV (such as FOV 202)associated with image capture device 122. For example, image capturedevices 124 and 126 may have FOVs of 40 degrees, 30 degrees, 26 degrees,23 degrees, 20 degrees, or less.

Image capture devices 124 and 126 may acquire a plurality of second andthird images relative to a scene associated with the vehicle 200. Eachof the plurality of second and third images may be acquired as a secondand third series of image scan lines, which may be captured using arolling shutter. Each scan line or row may have a plurality of pixels.Image capture devices 124 and 126 may have second and third scan ratesassociated with acquisition of each of image scan lines included in thesecond and third series.

Each image capture device 122, 124, and 126 may be positioned at anysuitable position and orientation relative to vehicle 200. The relativepositioning of the image capture devices 122, 124, and 126 may beselected to aid in fusing together the information acquired from theimage capture devices. For example, in some embodiments, a FOV (such asFOV 204) associated with image capture device 124 may overlap partiallyor fully with a FOV (such as FOV 202) associated with image capturedevice 122 and a FOV (such as FOV 206) associated with image capturedevice 126.

Image capture devices 122, 124, and 126 may be located on vehicle 200 atany suitable relative heights. In one instance, there may be a heightdifference between the image capture devices 122, 124, and 126, whichmay provide sufficient parallax information to enable stereo analysis.For example, as shown in FIG. 2A, the two image capture devices 122 and124 are at different heights. There may also be a lateral displacementdifference between image capture devices 122, 124, and 126, givingadditional parallax information for stereo analysis by processing unit110, for example. The difference in the lateral displacement may bedenoted by dx, as shown in FIGS. 2C and 2D. In some embodiments, fore oraft displacement (e.g., range displacement) may exist between imagecapture devices 122, 124, and 126. For example, image capture device 122may be located 0.5 to 2 meters or more behind image capture device 124and/or image capture device 126. This type of displacement may enableone of the image capture devices to cover potential blind spots of theother image capture device(s).

Image capture devices 122 may have any suitable resolution capability(e.g., number of pixels associated with the image sensor), and theresolution of the image sensor(s) associated with the image capturedevice 122 may be higher, lower, or the same as the resolution of theimage sensor(s) associated with image capture devices 124 and 126. Insome embodiments, the image sensor(s) associated with image capturedevice 122 and/or image capture devices 124 and 126 may have aresolution of 640×480, 1024×768, 1280×960, or any other suitableresolution.

The frame rate (e.g., the rate at which an image capture device acquiresa set of pixel data of one image frame before moving on to capture pixeldata associated with the next image frame) may be controllable. Theframe rate associated with image capture device 122 may be higher,lower, or the same as the frame rate associated with image capturedevices 124 and 126. The frame rate associated with image capturedevices 122, 124, and 126 may depend on a variety of factors that mayaffect the timing of the frame rate. For example, one or more of imagecapture devices 122, 124, and 126 may include a selectable pixel delayperiod imposed before or after acquisition of image data associated withone or more pixels of an image sensor in image capture device 122, 124,and/or 126. Generally, image data corresponding to each pixel may beacquired according to a clock rate for the device (e.g., one pixel perclock cycle). Additionally, in embodiments including a rolling shutter,one or more of image capture devices 122, 124, and 126 may include aselectable horizontal blanking period imposed before or afteracquisition of image data associated with a row of pixels of an imagesensor in image capture device 122, 124, and/or 126. Further, one ormore of image capture devices 122, 124, and/or 126 may include aselectable vertical blanking period imposed before or after acquisitionof image data associated with an image frame of image capture device122, 124, and 126.

These timing controls may enable synchronization of frame ratesassociated with image capture devices 122, 124, and 126, even where theline scan rates of each are different. Additionally, as will bediscussed in greater detail below, these selectable timing controls,among other factors (e.g., image sensor resolution, maximum line scanrates, etc.) may enable synchronization of image capture from an areawhere the FOV of image capture device 122 overlaps with one or more FOVsof image capture devices 124 and 126, even where the field of view ofimage capture device 122 is different from the FOVs of image capturedevices 124 and 126.

Frame rate timing in image capture device 122, 124, and 126 may dependon the resolution of the associated image sensors. For example, assumingsimilar line scan rates for both devices, if one device includes animage sensor having a resolution of 640×480 and another device includesan image sensor with a resolution of 1280×960, then more time will berequired to acquire a frame of image data from the sensor having thehigher resolution.

Another factor that may affect the timing of image data acquisition inimage capture devices 122, 124, and 126 is the maximum line scan rate.For example, acquisition of a row of image data from an image sensorincluded in image capture device 122, 124, and 126 will require someminimum amount of time. Assuming no pixel delay periods are added, thisminimum amount of time for acquisition of a row of image data will berelated to the maximum line scan rate for a particular device. Devicesthat offer higher maximum line scan rates have the potential to providehigher frame rates than devices with lower maximum line scan rates. Insome embodiments, one or more of image capture devices 124 and 126 mayhave a maximum line scan rate that is higher than a maximum line scanrate associated with image capture device 122. In some embodiments, themaximum line scan rate of image capture device 124 and/or 126 may be1.25, 1.5, 1.75, or 2 times or more than a maximum line scan rate ofimage capture device 122.

In another embodiment, image capture devices 122, 124, and 126 may havethe same maximum line scan rate, but image capture device 122 may beoperated at a scan rate less than or equal to its maximum scan rate. Thesystem may be configured such that one or more of image capture devices124 and 126 operate at a line scan rate that is equal to the line scanrate of image capture device 122. In other instances, the system may beconfigured such that the line scan rate of image capture device 124and/or image capture device 126 may be 1.25, 1.5, 1.75, or 2 times ormore than the line scan rate of image capture device 122.

In some embodiments, image capture devices 122, 124, and 126 may beasymmetric. That is, they may include cameras having different fields ofview (FOV) and focal lengths. The fields of view of image capturedevices 122, 124, and 126 may include any desired area relative to anenvironment of vehicle 200, for example. In some embodiments, one ormore of image capture devices 122, 124, and 126 may be configured toacquire image data from an environment in front of vehicle 200, behindvehicle 200, to the sides of vehicle 200, or combinations thereof.

Further, the focal length associated with each image capture device 122,124, and/or 126 may be selectable (e.g., by inclusion of appropriatelenses etc.) such that each device acquires images of objects at adesired distance range relative to vehicle 200. For example, in someembodiments image capture devices 122, 124, and 126 may acquire imagesof close-up objects within a few meters from the vehicle. Image capturedevices 122, 124, and 126 may also be configured to acquire images ofobjects at ranges more distant from the vehicle (e.g., 25 m, 50 m, 100m, 150 m, or more). Further, the focal lengths of image capture devices122, 124, and 126 may be selected such that one image capture device(e.g., image capture device 122) can acquire images of objectsrelatively close to the vehicle (e.g., within 10 m or within 20 m) whilethe other image capture devices (e.g., image capture devices 124 and126) can acquire images of more distant objects (e.g., greater than 20m, 50 m, 100 m, 150 m, etc.) from vehicle 200.

According to some embodiments, the FOV of one or more image capturedevices 122, 124, and 126 may have a wide angle. For example, it may beadvantageous to have a FOV of 140 degrees, especially for image capturedevices 122, 124, and 126 that may be used to capture images of the areain the vicinity of vehicle 200. For example, image capture device 122may be used to capture images of the area to the right or left ofvehicle 200 and, in such embodiments, it may be desirable for imagecapture device 122 to have a wide FOV (e.g., at least 140 degrees).

The field of view associated with each of image capture devices 122,124, and 126 may depend on the respective focal lengths. For example, asthe focal length increases, the corresponding field of view decreases.

Image capture devices 122, 124, and 126 may be configured to have anysuitable fields of view. In one particular example, image capture device122 may have a horizontal FOV of 46 degrees, image capture device 124may have a horizontal FOV of 23 degrees, and image capture device 126may have a horizontal FOV in between 23 and 46 degrees. In anotherinstance, image capture device 122 may have a horizontal FOV of 52degrees, image capture device 124 may have a horizontal FOV of 26degrees, and image capture device 126 may have a horizontal FOV inbetween 26 and 52 degrees. In some embodiments, a ratio of the FOV ofimage capture device 122 to the FOVs of image capture device 124 and/orimage capture device 126 may vary from 1.5 to 2.0. In other embodiments,this ratio may vary between 1.25 and 2.25.

System 100 may be configured so that a field of view of image capturedevice 122 overlaps, at least partially or fully, with a field of viewof image capture device 124 and/or image capture device 126. In someembodiments, system 100 may be configured such that the fields of viewof image capture devices 124 and 126, for example, fall within (e.g.,are narrower than) and share a common center with the field of view ofimage capture device 122. In other embodiments, the image capturedevices 122, 124, and 126 may capture adjacent FOVs or may have partialoverlap in their FOVs. In some embodiments, the fields of view of imagecapture devices 122, 124, and 126 may be aligned such that a center ofthe narrower FOV image capture devices 124 and/or 126 may be located ina lower half of the field of view of the wider FOV device 122.

FIG. 2F is a diagrammatic representation of exemplary vehicle controlsystems, consistent with the disclosed embodiments. As indicated in FIG.2F, vehicle 200 may include throttling system 220, braking system 230,and steering system 240. System 100 may provide inputs (e.g., controlsignals) to one or more of throttling system 220, braking system 230,and steering system 240 over one or more data links (e.g., any wiredand/or wireless link or links for transmitting data). For example, basedon analysis of images acquired by image capture devices 122, 124, and/or126, system 100 may provide control signals to one or more of throttlingsystem 220, braking system 230, and steering system 240 to navigatevehicle 200 (e.g., by causing an acceleration, a turn, a lane shift,etc.). Further, system 100 may receive inputs from one or more ofthrottling system 220, braking system 230, and steering system 24indicating operating conditions of vehicle 200 (e.g., speed, whethervehicle 200 is braking and/or turning, etc.). Further details areprovided in connection with FIGS. 4-7 , below.

As shown in FIG. 3A, vehicle 200 may also include a user interface 170for interacting with a driver or a passenger of vehicle 200. Forexample, user interface 170 in a vehicle application may include a touchscreen 320, knobs 330, buttons 340, and a microphone 350. A driver orpassenger of vehicle 200 may also use handles (e.g., located on or nearthe steering column of vehicle 200 including, for example, turn signalhandles), buttons (e.g., located on the steering wheel of vehicle 200),and the like, to interact with system 100. In some embodiments,microphone 350 may be positioned adjacent to a rearview mirror 310.Similarly, in some embodiments, image capture device 122 may be locatednear rearview mirror 310. In some embodiments, user interface 170 mayalso include one or more speakers 360 (e.g., speakers of a vehicle audiosystem). For example, system 100 may provide various notifications(e.g., alerts) via speakers 360.

FIGS. 3B-3D are illustrations of an exemplary camera mount 370configured to be positioned behind a rearview mirror (e.g., rearviewmirror 310) and against a vehicle windshield, consistent with disclosedembodiments. As shown in FIG. 3B, camera mount 370 may include imagecapture devices 122, 124, and 126. Image capture devices 124 and 126 maybe positioned behind a glare shield 380, which may be flush against thevehicle windshield and include a composition of film and/oranti-reflective materials. For example, glare shield 380 may bepositioned such that it aligns against a vehicle windshield having amatching slope. In some embodiments, each of image capture devices 122,124, and 126 may be positioned behind glare shield 380, as depicted, forexample, in FIG. 3D. The disclosed embodiments are not limited to anyparticular configuration of image capture devices 122, 124, and 126,camera mount 370, and glare shield 380. FIG. 3C is an illustration ofcamera mount 370 shown in FIG. 3B from a front perspective.

As will be appreciated by a person skilled in the art having the benefitof this disclosure, numerous variations and/or modifications may be madeto the foregoing disclosed embodiments. For example, not all componentsare essential for the operation of system 100. Further, any componentmay be located in any appropriate part of system 100 and the componentsmay be rearranged into a variety of configurations while providing thefunctionality of the disclosed embodiments. Therefore, the foregoingconfigurations are examples and, regardless of the configurationsdiscussed above, system 100 can provide a wide range of functionality toanalyze the surroundings of vehicle 200 and navigate vehicle 200 inresponse to the analysis.

As discussed below in further detail and consistent with variousdisclosed embodiments, system 100 may provide a variety of featuresrelated to autonomous driving and/or driver assist technology. Forexample, system 100 may analyze image data, position data (e.g., GPSlocation information), map data, speed data, and/or data from sensorsincluded in vehicle 200. System 100 may collect the data for analysisfrom, for example, image acquisition unit 120, position sensor 130, andother sensors. Further, system 100 may analyze the collected data todetermine whether or not vehicle 200 should take a certain action, andthen automatically take the determined action without humanintervention. For example, when vehicle 200 navigates without humanintervention, system 100 may automatically control the braking,acceleration, and/or steering of vehicle 200 (e.g., by sending controlsignals to one or more of throttling system 220, braking system 230, andsteering system 240). Further, system 100 may analyze the collected dataand issue warnings and/or alerts to vehicle occupants based on theanalysis of the collected data. Additional details regarding the variousembodiments that are provided by system 100 are provided below.

Forward-Facing Multi-Imaging System

As discussed above, system 100 may provide drive assist functionalitythat uses a multi-camera system. The multi-camera system may use one ormore cameras facing in the forward direction of a vehicle. In otherembodiments, the multi-camera system may include one or more camerasfacing to the side of a vehicle or to the rear of the vehicle. In oneembodiment, for example, system 100 may use a two-camera imaging system,where a first camera and a second camera (e.g., image capture devices122 and 124) may be positioned at the front and/or the sides of avehicle (e.g., vehicle 200). The first camera may have a field of viewthat is greater than, less than, or partially overlapping with, thefield of view of the second camera. In addition, the first camera may beconnected to a first image processor to perform monocular image analysisof images provided by the first camera, and the second camera may beconnected to a second image processor to perform monocular imageanalysis of images provided by the second camera. The outputs (e.g.,processed information) of the first and second image processors may becombined. In some embodiments, the second image processor may receiveimages from both the first camera and second camera to perform stereoanalysis. In another embodiment, system 100 may use a three-cameraimaging system where each of the cameras has a different field of view.Such a system may, therefore, make decisions based on informationderived from objects located at varying distances both forward and tothe sides of the vehicle. References to monocular image analysis mayrefer to instances where image analysis is performed based on imagescaptured from a single point of view (e.g., from a single camera).Stereo image analysis may refer to instances where image analysis isperformed based on two or more images captured with one or morevariations of an image capture parameter. For example, captured imagessuitable for performing stereo image analysis may include imagescaptured: from two or more different positions, from different fields ofview, using different focal lengths, along with parallax information,etc.

For example, in one embodiment, system 100 may implement a three cameraconfiguration using image capture devices 122-126. In such aconfiguration, image capture device 122 may provide a narrow field ofview (e.g., 34 degrees, or other values selected from a range of about20 to 45 degrees, etc.), image capture device 124 may provide a widefield of view (e.g., 150 degrees or other values selected from a rangeof about 100 to about 180 degrees), and image capture device 126 mayprovide an intermediate field of view (e.g., 46 degrees or other valuesselected from a range of about 35 to about 60 degrees). In someembodiments, image capture device 126 may act as a main or primarycamera. Image capture devices 122-126 may be positioned behind rearviewmirror 310 and positioned substantially side-by-side (e.g., 6 cm apart).Further, in some embodiments, as discussed above, one or more of imagecapture devices 122-126 may be mounted behind glare shield 380 that isflush with the windshield of vehicle 200. Such shielding may act tominimize the impact of any reflections from inside the car on imagecapture devices 122-126.

In another embodiment, as discussed above in connection with FIGS. 3Band 3C, the wide field of view camera (e.g., image capture device 124 inthe above example) may be mounted lower than the narrow and main fieldof view cameras (e.g., image devices 122 and 126 in the above example).This configuration may provide a free line of sight from the wide fieldof view camera. To reduce reflections, the cameras may be mounted closeto the windshield of vehicle 200, and may include polarizers on thecameras to damp reflected light.

A three camera system may provide certain performance characteristics.For example, some embodiments may include an ability to validate thedetection of objects by one camera based on detection results fromanother camera. In the three camera configuration discussed above,processing unit 110 may include, for example, three processing devices(e.g., three EyeQ series of processor chips, as discussed above), witheach processing device dedicated to processing images captured by one ormore of image capture devices 122-126.

In a three camera system, a first processing device may receive imagesfrom both the main camera and the narrow field of view camera, andperform vision processing of the narrow FOV camera to, for example,detect other vehicles, pedestrians, lane marks, traffic signs, trafficlights, and other road objects. Further, the first processing device maycalculate a disparity of pixels between the images from the main cameraand the narrow camera and create a 3D reconstruction of the environmentof vehicle 200. The first processing device may then combine the 3Dreconstruction with 3D map data or with 3D information calculated basedon information from another camera.

The second processing device may receive images from main camera andperform vision processing to detect other vehicles, pedestrians, lanemarks, traffic signs, traffic lights, and other road objects.Additionally, the second processing device may calculate a cameradisplacement and, based on the displacement, calculate a disparity ofpixels between successive images and create a 3D reconstruction of thescene (e.g., a structure from motion). The second processing device maysend the structure from motion based 3D reconstruction to the firstprocessing device to be combined with the stereo 3D images.

The third processing device may receive images from the wide FOV cameraand process the images to detect vehicles, pedestrians, lane marks,traffic signs, traffic lights, and other road objects. The thirdprocessing device may further execute additional processing instructionsto analyze images to identify objects moving in the image, such asvehicles changing lanes, pedestrians, etc.

In some embodiments, having streams of image-based information capturedand processed independently may provide an opportunity for providingredundancy in the system. Such redundancy may include, for example,using a first image capture device and the images processed from thatdevice to validate and/or supplement information obtained by capturingand processing image information from at least a second image capturedevice.

In some embodiments, system 100 may use two image capture devices (e.g.,image capture devices 122 and 124) in providing navigation assistancefor vehicle 200 and use a third image capture device (e.g., imagecapture device 126) to provide redundancy and validate the analysis ofdata received from the other two image capture devices. For example, insuch a configuration, image capture devices 122 and 124 may provideimages for stereo analysis by system 100 for navigating vehicle 200,while image capture device 126 may provide images for monocular analysisby system 100 to provide redundancy and validation of informationobtained based on images captured from image capture device 122 and/orimage capture device 124. That is, image capture device 126 (and acorresponding processing device) may be considered to provide aredundant sub-system for providing a check on the analysis derived fromimage capture devices 122 and 124 (e.g., to provide an automaticemergency braking (AEB) system).

One of skill in the art will recognize that the above cameraconfigurations, camera placements, number of cameras, camera locations,etc., are examples only. These components and others described relativeto the overall system may be assembled and used in a variety ofdifferent configurations without departing from the scope of thedisclosed embodiments. Further details regarding usage of a multi-camerasystem to provide driver assist and/or autonomous vehicle functionalityfollow below.

FIG. 4 is an exemplary functional block diagram of memory 140 and/or150, which may be stored/programmed with instructions for performing oneor more operations consistent with the disclosed embodiments. Althoughthe following refers to memory 140, one of skill in the art willrecognize that instructions may be stored in memory 140 and/or 150.

As shown in FIG. 4 , memory 140 may store a monocular image analysismodule 402, a stereo image analysis module 404, a velocity andacceleration module 406, and a navigational response module 408. Thedisclosed embodiments are not limited to any particular configuration ofmemory 140. Further, application processor 180 and/or image processor190 may execute the instructions stored in any of modules 402-408included in memory 140. One of skill in the art will understand thatreferences in the following discussions to processing unit 110 may referto application processor 180 and image processor 190 individually orcollectively. Accordingly, steps of any of the following processes maybe performed by one or more processing devices.

In one embodiment, monocular image analysis module 402 may storeinstructions (such as computer vision software) which, when executed byprocessing unit 110, performs monocular image analysis of a set ofimages acquired by one of image capture devices 122, 124, and 126. Insome embodiments, processing unit 110 may combine information from a setof images with additional sensory information (e.g., information fromradar) to perform the monocular image analysis. As described inconnection with FIGS. 5A-5D below, monocular image analysis module 402may include instructions for detecting a set of features within the setof images, such as lane markings, vehicles, pedestrians, road signs,highway exit ramps, traffic lights, hazardous objects, and any otherfeature associated with an environment of a vehicle. Based on theanalysis, system 100 (e.g., via processing unit 110) may cause one ormore navigational responses in vehicle 200, such as a turn, a laneshift, a change in acceleration, and the like, as discussed below inconnection with navigational response module 408.

In one embodiment, stereo image analysis module 404 may storeinstructions (such as computer vision software) which, when executed byprocessing unit 110, performs stereo image analysis of first and secondsets of images acquired by a combination of image capture devicesselected from any of image capture devices 122, 124, and 126. In someembodiments, processing unit 110 may combine information from the firstand second sets of images with additional sensory information (e.g.,information from radar) to perform the stereo image analysis. Forexample, stereo image analysis module 404 may include instructions forperforming stereo image analysis based on a first set of images acquiredby image capture device 124 and a second set of images acquired by imagecapture device 126. As described in connection with FIG. 6 below, stereoimage analysis module 404 may include instructions for detecting a setof features within the first and second sets of images, such as lanemarkings, vehicles, pedestrians, road signs, highway exit ramps, trafficlights, hazardous objects, and the like. Based on the analysis,processing unit 110 may cause one or more navigational responses invehicle 200, such as a turn, a lane shift, a change in acceleration, andthe like, as discussed below in connection with navigational responsemodule 408.

In one embodiment, velocity and acceleration module 406 may storesoftware configured to analyze data received from one or more computingand electromechanical devices in vehicle 200 that are configured tocause a change in velocity and/or acceleration of vehicle 200. Forexample, processing unit 110 may execute instructions associated withvelocity and acceleration module 406 to calculate a target speed forvehicle 200 based on data derived from execution of monocular imageanalysis module 402 and/or stereo image analysis module 404. Such datamay include, for example, a target position, velocity, and/oracceleration, the position and/or speed of vehicle 200 relative to anearby vehicle, pedestrian, or road object, position information forvehicle 200 relative to lane markings of the road, and the like. Inaddition, processing unit 110 may calculate a target speed for vehicle200 based on sensory input (e.g., information from radar) and input fromother systems of vehicle 200, such as throttling system 220, brakingsystem 230, and/or steering system 240 of vehicle 200. Based on thecalculated target speed, processing unit 110 may transmit electronicsignals to throttling system 220, braking system 230, and/or steeringsystem 240 of vehicle 200 to trigger a change in velocity and/oracceleration by, for example, physically depressing the brake or easingup off the accelerator of vehicle 200.

In one embodiment, navigational response module 408 may store softwareexecutable by processing unit 110 to determine a desired navigationalresponse based on data derived from execution of monocular imageanalysis module 402 and/or stereo image analysis module 404. Such datamay include position and speed information associated with nearbyvehicles, pedestrians, and road objects, target position information forvehicle 200, and the like. Additionally, in some embodiments, thenavigational response may be based (partially or fully) on map data, apredetermined position of vehicle 200, and/or a relative velocity or arelative acceleration between vehicle 200 and one or more objectsdetected from execution of monocular image analysis module 402 and/orstereo image analysis module 404. Navigational response module 408 mayalso determine a desired navigational response based on sensory input(e.g., information from radar) and inputs from other systems of vehicle200, such as throttling system 220, braking system 230, and steeringsystem 240 of vehicle 200. Based on the desired navigational response,processing unit 110 may transmit electronic signals to throttling system220, braking system 230, and steering system 240 of vehicle 200 totrigger a desired navigational response by, for example, turning thesteering wheel of vehicle 200 to achieve a rotation of a predeterminedangle. In some embodiments, processing unit 110 may use the output ofnavigational response module 408 (e.g., the desired navigationalresponse) as an input to execution of velocity and acceleration module406 for calculating a change in speed of vehicle 200.

FIG. 5A is a flowchart showing an exemplary process 500A for causing oneor more navigational responses based on monocular image analysis,consistent with disclosed embodiments. At step 510, processing unit 110may receive a plurality of images via data interface 128 betweenprocessing unit 110 and image acquisition unit 120. For instance, acamera included in image acquisition unit 120 (such as image capturedevice 122 having field of view 202) may capture a plurality of imagesof an area forward of vehicle 200 (or to the sides or rear of a vehicle,for example) and transmit them over a data connection (e.g., digital,wired, USB, wireless, Bluetooth, etc.) to processing unit 110.Processing unit 110 may execute monocular image analysis module 402 toanalyze the plurality of images at step 520, as described in furtherdetail in connection with FIGS. 5B-5D below. By performing the analysis,processing unit 110 may detect a set of features within the set ofimages, such as lane markings, vehicles, pedestrians, road signs,highway exit ramps, traffic lights, and the like. Processing unit 110may also execute monocular image analysis module 402 to detect variousroad hazards at step 520, such as, for example, parts of a truck tire,fallen road signs, loose cargo, small animals, and the like. Roadhazards may vary in structure, shape, size, and color, which may makedetection of such hazards more challenging. In some embodiments,processing unit 110 may execute monocular image analysis module 402 toperform multi-frame analysis on the plurality of images to detect roadhazards. For example, processing unit 110 may estimate camera motionbetween consecutive image frames and calculate the disparities in pixelsbetween the frames to construct a 3D-map of the road. Processing unit110 may then use the 3D-map to detect the road surface, as well ashazards existing above the road surface.

At step 530, processing unit 110 may execute navigational responsemodule 408 to cause one or more navigational responses in vehicle 200based on the analysis performed at step 520 and the techniques asdescribed above in connection with FIG. 4 . Navigational responses mayinclude, for example, a turn, a lane shift, a change in acceleration,and the like. In some embodiments, processing unit 110 may use dataderived from execution of velocity and acceleration module 406 to causethe one or more navigational responses. Additionally, multiplenavigational responses may occur simultaneously, in sequence, or anycombination thereof. For instance, processing unit 110 may cause vehicle200 to shift one lane over and then accelerate by, for example,sequentially transmitting control signals to steering system 240 andthrottling system 220 of vehicle 200. Alternatively, processing unit 110may cause vehicle 200 to brake while at the same time shifting lanes by,for example, simultaneously transmitting control signals to brakingsystem 230 and steering system 240 of vehicle 200.

FIG. 5B is a flowchart showing an exemplary process 500B for detectingone or more vehicles and/or pedestrians in a set of images, consistentwith disclosed embodiments. Processing unit 110 may execute monocularimage analysis module 402 to implement process 500B. At step 540,processing unit 110 may determine a set of candidate objectsrepresenting possible vehicles and/or pedestrians. For example,processing unit 110 may scan one or more images, compare the images toone or more predetermined patterns, and identify within each imagepossible locations that may contain objects of interest (e.g., vehicles,pedestrians, or portions thereof). The predetermined patterns may bedesigned in such a way to achieve a high rate of “false hits” and a lowrate of “misses.” For example, processing unit 110 may use a lowthreshold of similarity to predetermined patterns for identifyingcandidate objects as possible vehicles or pedestrians. Doing so mayallow processing unit 110 to reduce the probability of missing (e.g.,not identifying) a candidate object representing a vehicle orpedestrian.

At step 542, processing unit 110 may filter the set of candidate objectsto exclude certain candidates (e.g., irrelevant or less relevantobjects) based on classification criteria. Such criteria may be derivedfrom various properties associated with object types stored in adatabase (e.g., a database stored in memory 140). Properties may includeobject shape, dimensions, texture, position (e.g., relative to vehicle200), and the like. Thus, processing unit 110 may use one or more setsof criteria to reject false candidates from the set of candidateobjects.

At step 544, processing unit 110 may analyze multiple frames of imagesto determine whether objects in the set of candidate objects representvehicles and/or pedestrians. For example, processing unit 110 may tracka detected candidate object across consecutive frames and accumulateframe-by-frame data associated with the detected object (e.g., size,position relative to vehicle 200, etc.). Additionally, processing unit110 may estimate parameters for the detected object and compare theobject's frame-by-frame position data to a predicted position.

At step 546, processing unit 110 may construct a set of measurements forthe detected objects. Such measurements may include, for example,position, velocity, and acceleration values (relative to vehicle 200)associated with the detected objects. In some embodiments, processingunit 110 may construct the measurements based on estimation techniquesusing a series of time-based observations such as Kalman filters orlinear quadratic estimation (LQE), and/or based on available modelingdata for different object types (e.g., cars, trucks, pedestrians,bicycles, road signs, etc.). The Kalman filters may be based on ameasurement of an object's scale, where the scale measurement isproportional to a time to collision (e.g., the amount of time forvehicle 200 to reach the object). Thus, by performing steps 540-546,processing unit 110 may identify vehicles and pedestrians appearingwithin the set of captured images and derive information (e.g.,position, speed, size) associated with the vehicles and pedestrians.Based on the identification and the derived information, processing unit110 may cause one or more navigational responses in vehicle 200, asdescribed in connection with FIG. 5A, above.

At step 548, processing unit 110 may perform an optical flow analysis ofone or more images to reduce the probabilities of detecting a “falsehit” and missing a candidate object that represents a vehicle orpedestrian. The optical flow analysis may refer to, for example,analyzing motion patterns relative to vehicle 200 in the one or moreimages associated with other vehicles and pedestrians, and that aredistinct from road surface motion. Processing unit 110 may calculate themotion of candidate objects by observing the different positions of theobjects across multiple image frames, which are captured at differenttimes. Processing unit 110 may use the position and time values asinputs into mathematical models for calculating the motion of thecandidate objects. Thus, optical flow analysis may provide anothermethod of detecting vehicles and pedestrians that are nearby vehicle200. Processing unit 110 may perform optical flow analysis incombination with steps 540-546 to provide redundancy for detectingvehicles and pedestrians and increase the reliability of system 100.

FIG. 5C is a flowchart showing an exemplary process 500C for detectingroad marks and/or lane geometry information in a set of images,consistent with disclosed embodiments. Processing unit 110 may executemonocular image analysis module 402 to implement process 500C. At step550, processing unit 110 may detect a set of objects by scanning one ormore images. To detect segments of lane markings, lane geometryinformation, and other pertinent road marks, processing unit 110 mayfilter the set of objects to exclude those determined to be irrelevant(e.g., minor potholes, small rocks, etc.). At step 552, processing unit110 may group together the segments detected in step 550 belonging tothe same road mark or lane mark. Based on the grouping, processing unit110 may develop a model to represent the detected segments, such as amathematical model.

At step 554, processing unit 110 may construct a set of measurementsassociated with the detected segments. In some embodiments, processingunit 110 may create a projection of the detected segments from the imageplane onto the real-world plane. The projection may be characterizedusing a 3rd-degree polynomial having coefficients corresponding tophysical properties such as the position, slope, curvature, andcurvature derivative of the detected road. In generating the projection,processing unit 110 may take into account changes in the road surface,as well as pitch and roll rates associated with vehicle 200. Inaddition, processing unit 110 may model the road elevation by analyzingposition and motion cues present on the road surface. Further,processing unit 110 may estimate the pitch and roll rates associatedwith vehicle 200 by tracking a set of feature points in the one or moreimages.

At step 556, processing unit 110 may perform multi-frame analysis by,for example, tracking the detected segments across consecutive imageframes and accumulating frame-by-frame data associated with detectedsegments. As processing unit 110 performs multi-frame analysis, the setof measurements constructed at step 554 may become more reliable andassociated with an increasingly higher confidence level. Thus, byperforming steps 550-556, processing unit 110 may identify road marksappearing within the set of captured images and derive lane geometryinformation. Based on the identification and the derived information,processing unit 110 may cause one or more navigational responses invehicle 200, as described in connection with FIG. 5A, above.

At step 558, processing unit 110 may consider additional sources ofinformation to further develop a safety model for vehicle 200 in thecontext of its surroundings. Processing unit 110 may use the safetymodel to define a context in which system 100 may execute autonomouscontrol of vehicle 200 in a safe manner. To develop the safety model, insome embodiments, processing unit 110 may consider the position andmotion of other vehicles, the detected road edges and barriers, and/orgeneral road shape descriptions extracted from map data (such as datafrom map database 160). By considering additional sources ofinformation, processing unit 110 may provide redundancy for detectingroad marks and lane geometry and increase the reliability of system 100.

FIG. 5D is a flowchart showing an exemplary process 500D for detectingtraffic lights in a set of images, consistent with disclosedembodiments. Processing unit 110 may execute monocular image analysismodule 402 to implement process 500D. At step 560, processing unit 110may scan the set of images and identify objects appearing at locationsin the images likely to contain traffic lights. For example, processingunit 110 may filter the identified objects to construct a set ofcandidate objects, excluding those objects unlikely to correspond totraffic lights. The filtering may be done based on various propertiesassociated with traffic lights, such as shape, dimensions, texture,position (e.g., relative to vehicle 200), and the like. Such propertiesmay be based on multiple examples of traffic lights and traffic controlsignals and stored in a database. In some embodiments, processing unit110 may perform multi-frame analysis on the set of candidate objectsreflecting possible traffic lights. For example, processing unit 110 maytrack the candidate objects across consecutive image frames, estimatethe real-world position of the candidate objects, and filter out thoseobjects that are moving (which are unlikely to be traffic lights). Insome embodiments, processing unit 110 may perform color analysis on thecandidate objects and identify the relative position of the detectedcolors appearing inside possible traffic lights.

At step 562, processing unit 110 may analyze the geometry of a junction.The analysis may be based on any combination of: (i) the number of lanesdetected on either side of vehicle 200, (ii) markings (such as arrowmarks) detected on the road, and (iii) descriptions of the junctionextracted from map data (such as data from map database 160). Processingunit 110 may conduct the analysis using information derived fromexecution of monocular analysis module 402. In addition, Processing unit110 may determine a correspondence between the traffic lights detectedat step 560 and the lanes appearing near vehicle 200.

As vehicle 200 approaches the junction, at step 564, processing unit 110may update the confidence level associated with the analyzed junctiongeometry and the detected traffic lights. For instance, the number oftraffic lights estimated to appear at the junction as compared with thenumber actually appearing at the junction may impact the confidencelevel. Thus, based on the confidence level, processing unit 110 maydelegate control to the driver of vehicle 200 in order to improve safetyconditions. By performing steps 560-564, processing unit 110 mayidentify traffic lights appearing within the set of captured images andanalyze junction geometry information. Based on the identification andthe analysis, processing unit 110 may cause one or more navigationalresponses in vehicle 200, as described in connection with FIG. above.

FIG. 5E is a flowchart showing an exemplary process 500E for causing oneor more navigational responses in vehicle 200 based on a vehicle path,consistent with the disclosed embodiments. At step 570, processing unit110 may construct an initial vehicle path associated with vehicle 200.The vehicle path may be represented using a set of points expressed incoordinates (x, z), and the distance d_(i) between two points in the setof points may fall in the range of 1 to 5 meters. In one embodiment,processing unit 110 may construct the initial vehicle path using twopolynomials, such as left and right road polynomials. Processing unit110 may calculate the geometric midpoint between the two polynomials andoffset each point included in the resultant vehicle path by apredetermined offset (e.g., a smart lane offset), if any (an offset ofzero may correspond to travel in the middle of a lane). The offset maybe in a direction perpendicular to a segment between any two points inthe vehicle path. In another embodiment, processing unit 110 may use onepolynomial and an estimated lane width to offset each point of thevehicle path by half the estimated lane width plus a predeterminedoffset (e.g., a smart lane offset).

At step 572, processing unit 110 may update the vehicle path constructedat step 570. Processing unit 110 may reconstruct the vehicle pathconstructed at step 570 using a higher resolution, such that thedistance d_(k) between two points in the set of points representing thevehicle path is less than the distance d_(i) described above. Forexample, the distance d_(k) may fall in the range of 0.1 to 0.3 meters.Processing unit 110 may reconstruct the vehicle path using a parabolicspline algorithm, which may yield a cumulative distance vector Scorresponding to the total length of the vehicle path (i.e., based onthe set of points representing the vehicle path).

At step 574, processing unit 110 may determine a look-ahead point(expressed in coordinates as (x_(l), z_(l))) based on the updatedvehicle path constructed at step 572. Processing unit 110 may extractthe look-ahead point from the cumulative distance vector S, and thelook-ahead point may be associated with a look-ahead distance andlook-ahead time. The look-ahead distance, which may have a lower boundranging from 10 to 20 meters, may be calculated as the product of thespeed of vehicle 200 and the look-ahead time. For example, as the speedof vehicle 200 decreases, the look-ahead distance may also decrease(e.g., until it reaches the lower bound). The look-ahead time, which mayrange from 0.5 to 1.5 seconds, may be inversely proportional to the gainof one or more control loops associated with causing a navigationalresponse in vehicle 200, such as the heading error tracking controlloop. For example, the gain of the heading error tracking control loopmay depend on the bandwidth of a yaw rate loop, a steering actuatorloop, car lateral dynamics, and the like. Thus, the higher the gain ofthe heading error tracking control loop, the lower the look-ahead time.

At step 576, processing unit 110 may determine a heading error and yawrate command based on the look-ahead point determined at step 574.Processing unit 110 may determine the heading error by calculating thearctangent of the look-ahead point, e.g., arctan (x_(l)/z_(l)).Processing unit 110 may determine the yaw rate command as the product ofthe heading error and a high-level control gain. The high-level controlgain may be equal to: (2/look-ahead time), if the look-ahead distance isnot at the lower bound. Otherwise, the high-level control gain may beequal to: (2*speed of vehicle 200/look-ahead distance).

FIG. 5F is a flowchart showing an exemplary process 500F for determiningwhether a leading vehicle is changing lanes, consistent with thedisclosed embodiments. At step 580, processing unit 110 may determinenavigation information associated with a leading vehicle (e.g., avehicle traveling ahead of vehicle 200). For example, processing unit110 may determine the position, velocity (e.g., direction and speed),and/or acceleration of the leading vehicle, using the techniquesdescribed in connection with FIGS. 5A and 5B, above. Processing unit 110may also determine one or more road polynomials, a look-ahead point(associated with vehicle 200), and/or a snail trail (e.g., a set ofpoints describing a path taken by the leading vehicle), using thetechniques described in connection with FIG. 5E, above.

At step 582, processing unit 110 may analyze the navigation informationdetermined at step 580. In one embodiment, processing unit 110 maycalculate the distance between a snail trail and a road polynomial(e.g., along the trail). If the variance of this distance along thetrail exceeds a predetermined threshold (for example, 0.1 to 0.2 meterson a straight road, 0.3 to 0.4 meters on a moderately curvy road, and0.5 to 0.6 meters on a road with sharp curves), processing unit 110 maydetermine that the leading vehicle is likely changing lanes. In the casewhere multiple vehicles are detected traveling ahead of vehicle 200,processing unit 110 may compare the snail trails associated with eachvehicle. Based on the comparison, processing unit 110 may determine thata vehicle whose snail trail does not match with the snail trails of theother vehicles is likely changing lanes. Processing unit 110 mayadditionally compare the curvature of the snail trail (associated withthe leading vehicle) with the expected curvature of the road segment inwhich the leading vehicle is traveling. The expected curvature may beextracted from map data (e.g., data from map database 160), from roadpolynomials, from other vehicles' snail trails, from prior knowledgeabout the road, and the like. If the difference in curvature of thesnail trail and the expected curvature of the road segment exceeds apredetermined threshold, processing unit 110 may determine that theleading vehicle is likely changing lanes.

In another embodiment, processing unit 110 may compare the leadingvehicle's instantaneous position with the look-ahead point (associatedwith vehicle 200) over a specific period of time (e.g., 0.5 to 1.5seconds). If the distance between the leading vehicle's instantaneousposition and the look-ahead point varies during the specific period oftime, and the cumulative sum of variation exceeds a predeterminedthreshold (for example, 0.3 to 0.4 meters on a straight road, 0.7 to 0.8meters on a moderately curvy road, and 1.3 to 1.7 meters on a road withsharp curves), processing unit 110 may determine that the leadingvehicle is likely changing lanes. In another embodiment, processing unit110 may analyze the geometry of the snail trail by comparing the lateraldistance traveled along the trail with the expected curvature of thesnail trail. The expected radius of curvature may be determinedaccording to the calculation: (δ_(z) ²+δ_(x) ²)/2/(δ_(x)), where δ_(x)represents the lateral distance traveled and δ_(z) represents thelongitudinal distance traveled. If the difference between the lateraldistance traveled and the expected curvature exceeds a predeterminedthreshold (e.g., 500 to 700 meters), processing unit 110 may determinethat the leading vehicle is likely changing lanes. In anotherembodiment, processing unit 110 may analyze the position of the leadingvehicle. If the position of the leading vehicle obscures a roadpolynomial (e.g., the leading vehicle is overlaid on top of the roadpolynomial), then processing unit 110 may determine that the leadingvehicle is likely changing lanes. In the case where the position of theleading vehicle is such that, another vehicle is detected ahead of theleading vehicle and the snail trails of the two vehicles are notparallel, processing unit 110 may determine that the (closer) leadingvehicle is likely changing lanes.

At step 584, processing unit 110 may determine whether or not leadingvehicle 200 is changing lanes based on the analysis performed at step582. For example, processing unit 110 may make the determination basedon a weighted average of the individual analyses performed at step 582.Under such a scheme, for example, a decision by processing unit 110 thatthe leading vehicle is likely changing lanes based on a particular typeof analysis may be assigned a value of “1” (and “0” to represent adetermination that the leading vehicle is not likely changing lanes).Different analyses performed at step 582 may be assigned differentweights, and the disclosed embodiments are not limited to any particularcombination of analyses and weights.

FIG. 6 is a flowchart showing an exemplary process 600 for causing oneor more navigational responses based on stereo image analysis,consistent with disclosed embodiments. At step 610, processing unit 110may receive a first and second plurality of images via data interface128. For example, cameras included in image acquisition unit 120 (suchas image capture devices 122 and 124 having fields of view 202 and 204)may capture a first and second plurality of images of an area forward ofvehicle 200 and transmit them over a digital connection (e.g., USB,wireless, Bluetooth, etc.) to processing unit 110. In some embodiments,processing unit 110 may receive the first and second plurality of imagesvia two or more data interfaces. The disclosed embodiments are notlimited to any particular data interface configurations or protocols.

At step 620, processing unit 110 may execute stereo image analysismodule 404 to perform stereo image analysis of the first and secondplurality of images to create a 3D map of the road in front of thevehicle and detect features within the images, such as lane markings,vehicles, pedestrians, road signs, highway exit ramps, traffic lights,road hazards, and the like. Stereo image analysis may be performed in amanner similar to the steps described in connection with FIGS. 5A-5D,above. For example, processing unit 110 may execute stereo imageanalysis module 404 to detect candidate objects (e.g., vehicles,pedestrians, road marks, traffic lights, road hazards, etc.) within thefirst and second plurality of images, filter out a subset of thecandidate objects based on various criteria, and perform multi-frameanalysis, construct measurements, and determine a confidence level forthe remaining candidate objects. In performing the steps above,processing unit 110 may consider information from both the first andsecond plurality of images, rather than information from one set ofimages alone. For example, processing unit 110 may analyze thedifferences in pixel-level data (or other data subsets from among thetwo streams of captured images) for a candidate object appearing in boththe first and second plurality of images. As another example, processingunit 110 may estimate a position and/or velocity of a candidate object(e.g., relative to vehicle 200) by observing that the object appears inone of the plurality of images but not the other or relative to otherdifferences that may exist relative to objects appearing if the twoimage streams. For example, position, velocity, and/or accelerationrelative to vehicle 200 may be determined based on trajectories,positions, movement characteristics, etc. of features associated with anobject appearing in one or both of the image streams.

At step 630, processing unit 110 may execute navigational responsemodule 408 to cause one or more navigational responses in vehicle 200based on the analysis performed at step 620 and the techniques asdescribed above in connection with FIG. 4 . Navigational responses mayinclude, for example, a turn, a lane shift, a change in acceleration, achange in velocity, braking, and the like. In some embodiments,processing unit 110 may use data derived from execution of velocity andacceleration module 406 to cause the one or more navigational responses.Additionally, multiple navigational responses may occur simultaneously,in sequence, or any combination thereof.

FIG. 7 is a flowchart showing an exemplary process 700 for causing oneor more navigational responses based on an analysis of three sets ofimages, consistent with disclosed embodiments. At step 710, processingunit 110 may receive a first, second, and third plurality of images viadata interface 128. For instance, cameras included in image acquisitionunit 120 (such as image capture devices 122, 124, and 126 having fieldsof view 202, 204, and 206) may capture a first, second, and thirdplurality of images of an area forward and/or to the side of vehicle 200and transmit them over a digital connection (e.g., USB, wireless,Bluetooth, etc.) to processing unit 110. In some embodiments, processingunit 110 may receive the first, second, and third plurality of imagesvia three or more data interfaces. For example, each of image capturedevices 122, 124, 126 may have an associated data interface forcommunicating data to processing unit 110. The disclosed embodiments arenot limited to any particular data interface configurations orprotocols.

At step 720, processing unit 110 may analyze the first, second, andthird plurality of images to detect features within the images, such aslane markings, vehicles, pedestrians, road signs, highway exit ramps,traffic lights, road hazards, and the like. The analysis may beperformed in a manner similar to the steps described in connection withFIGS. 5A-5D and 6 , above. For instance, processing unit 110 may performmonocular image analysis (e.g., via execution of monocular imageanalysis module 402 and based on the steps described in connection withFIGS. 5A-5D, above) on each of the first, second, and third plurality ofimages. Alternatively, processing unit 110 may perform stereo imageanalysis (e.g., via execution of stereo image analysis module 404 andbased on the steps described in connection with FIG. 6 , above) on thefirst and second plurality of images, the second and third plurality ofimages, and/or the first and third plurality of images. The processedinformation corresponding to the analysis of the first, second, and/orthird plurality of images may be combined. In some embodiments,processing unit 110 may perform a combination of monocular and stereoimage analyses. For example, processing unit 110 may perform monocularimage analysis (e.g., via execution of monocular image analysis module402) on the first plurality of images and stereo image analysis (e.g.,via execution of stereo image analysis module 404) on the second andthird plurality of images. The configuration of image capture devices122, 124, and 126—including their respective locations and fields ofview 202, 204, and 206—may influence the types of analyses conducted onthe first, second, and third plurality of images. The disclosedembodiments are not limited to a particular configuration of imagecapture devices 122, 124, and 126, or the types of analyses conducted onthe first, second, and third plurality of images.

In some embodiments, processing unit 110 may perform testing on system100 based on the images acquired and analyzed at steps 710 and 720. Suchtesting may provide an indicator of the overall performance of system100 for certain configurations of image capture devices 122, 124, and126. For example, processing unit 110 may determine the proportion of“false hits” (e.g., cases where system 100 incorrectly determined thepresence of a vehicle or pedestrian) and “misses.”

At step 730, processing unit 110 may cause one or more navigationalresponses in vehicle 200 based on information derived from two of thefirst, second, and third plurality of images. Selection of two of thefirst, second, and third plurality of images may depend on variousfactors, such as, for example, the number, types, and sizes of objectsdetected in each of the plurality of images. Processing unit 110 mayalso make the selection based on image quality and resolution, theeffective field of view reflected in the images, the number of capturedframes, the extent to which one or more objects of interest actuallyappear in the frames (e.g., the percentage of frames in which an objectappears, the proportion of the object that appears in each such frame,etc.), and the like.

In some embodiments, processing unit 110 may select information derivedfrom two of the first, second, and third plurality of images bydetermining the extent to which information derived from one imagesource is consistent with information derived from other image sources.For example, processing unit 110 may combine the processed informationderived from each of image capture devices 122, 124, and 126 (whether bymonocular analysis, stereo analysis, or any combination of the two) anddetermine visual indicators (e.g., lane markings, a detected vehicle andits location and/or path, a detected traffic light, etc.) that areconsistent across the images captured from each of image capture devices122, 124, and 126. Processing unit 110 may also exclude information thatis inconsistent across the captured images (e.g., a vehicle changinglanes, a lane model indicating a vehicle that is too close to vehicle200, etc.). Thus, processing unit 110 may select information derivedfrom two of the first, second, and third plurality of images based onthe determinations of consistent and inconsistent information.

Navigational responses may include, for example, a turn, a lane shift, achange in acceleration, and the like. Processing unit 110 may cause theone or more navigational responses based on the analysis performed atstep 720 and the techniques as described above in connection with FIG. 4. Processing unit 110 may also use data derived from execution ofvelocity and acceleration module 406 to cause the one or morenavigational responses. In some embodiments, processing unit 110 maycause the one or more navigational responses based on a relativeposition, relative velocity, and/or relative acceleration betweenvehicle 200 and an object detected within any of the first, second, andthird plurality of images. Multiple navigational responses may occursimultaneously, in sequence, or any combination thereof

Estimating Future Paths

Reference is now made to FIG. 8 , which is a flow chart illustration ofa method of processing images to provide a trained system which iscapable of estimating a future path ahead of a current location of avehicle based on an image captured at the current location, inaccordance with examples of the presently disclosed subject matter. Themethod of processing images can include: obtaining a first plurality oftraining images, each one of the first plurality of training images isan image of an environment ahead of a vehicle navigating a road (block1910). In some embodiments, the first plurality of images are notlimited to being images of an environment ahead of a vehicle navigatinga road, and can include images of other sides of the vehicle navigatingthe road, for example of the environment at a side(s) of the vehicleand/or of the environment at a rearward direction.

For each one of the first plurality of training images, a prestored pathof the vehicle ahead of a respective present location of the vehicle canbe obtained (block 420). Reference is now additionally made to FIG.9A-9C, which are graphical illustrations of features of the method ofprocessing images to provide a trained system which is capable ofestimating a future path ahead of a current location of a vehicle basedon an image captured at the current location, in accordance withexamples of the presently disclosed subject matter. As can be seen inFIG. 9A, a vehicle 910 is entering a section of road 920. The vehicle910 includes a camera (not shown) which captures images. In FIG. 9A, animage is illustrated by cone 930 which represents the FOV of the cameramounted in vehicle 910. The image depicts arbitrary objects in the FOVof the camera. The image typically includes road objects, such as roadsigns, lane marks, curbs, other vehicles, etc. In addition, at leastsome of the images that are used in the method of processing images toprovide a trained system which is capable of estimating a future pathahead of a current location of a vehicle based on an image captured atthe current location, include other arbitrary objects, such asstructures and trees at the sides of the road, etc.

In the examples, shown in FIGS. 9A-9C, the images captured by the cameraonboard the vehicle 910 are images of an environment ahead of thevehicle 910 navigating the road 920.

As can be seen in FIGS. 9B and 9C, the vehicle 910 travels along (asegment of) road 920, and its path is recorded. The path of vehicle 910is marked with locations 941-947. The path of the vehicle 910 along theroad 920, from location 941 to location 947, is recorded. Thus, thefuture path of the vehicle from point 941, down road 920, is available.It would be appreciated that the specific location of vehicle 910 andthe 2D or 3D shape of the road is arbitrary, and that examples of thepresently disclosed subject matter are applicable to various locationson any road. As is shown in FIG. 9C, as the vehicle 910 travels alongthe road 920, the camera captures a plurality of images, represented bycones 951-954. One or more images can be captured for each of thelocations 941-947 or only for some of the recorded locations, howeverfor convenience, in FIG. 9C images are illustrated only for a subset ofthe recorded locations of vehicle 910 along the road 920.

Resuming the description of FIG. 8 , a system (e.g., a neural network,deep learning system, etc.) can be trained to provide, given an image, afuture path for a vehicle navigating a road ahead of a respectivepresent location of the vehicle (block 830). Training the system (block830) can include: providing the first plurality of training images asinput to a trained system (block 840); at each iteration of thetraining, computing a loss function based on a respective provisionalfuture path that was estimated by a current state of weights of thetrained system and a respective prestored path (block 850); and updatingthe weights of the trained system according to results of the lossfunction (block 860).

Typically, a very large number of images are provided to the trainedsystem during the training phase, and for each image a prestored path ofthe vehicle ahead of a respective present location of the vehicle isprovided. The prestored path can be obtained by recording the futurelocations of the vehicle along the road on which the vehicle wastraveling while the image was captured. In another example, theprestored path can be generated manually or using image processing byidentifying, visually or algorithmically, various objects in the road orin a vicinity of the road, which indicate a location of the vehicle onthe road. The location of the vehicle on the road can be the actuallocation of the vehicle on the road during the session when the imagewas captured, or it can be an estimated or artificially generatedlocation. For example, in one example, images can be taken every fewmeters or even tens of meters, the future path of the vehicle can beoutlined by technicians based on lane markings or based on any otherobjects which the technician visually identifies in each image. In thelane markings example, the technicians may outline the future path foran image where the lane markings appear, at a certain (say predefined)offset from the lane markings, say in the middle of the lane that isdistinguished by lane markings on either side thereof.

FIGS. 13 and 14 illustrate images that may be provided to a machinelearning process, e.g., using a trained system (e.g., a neural network,deep learning system, etc.), during a training phase consistent withsome disclosed embodiments. FIG. 14 additionally illustrates points 1410on lane markings 1412 and points 1420 on the center of the lane,detected by image processing or by technicians.

Reference is now additionally made to FIG. 12A which shows an image 1210of an environment ahead of a vehicle navigating a road and a prestoredpath 1212 that was recorded for this image using the vehicle'sego-motion, according to examples of the presently disclosed subjectmatter; and to FIG. 12B which shows an image 1220 of an environmentahead of a vehicle navigating a road, the image includes marked lanemarkings 1222 that were marked by a technician or by a computer-visionalgorithm, according to examples of the presently disclosed subjectmatter. The prestored path that is based on the marked lane markings canbe generated and prestored for the image shown in FIG. 12B. Theego-motion track of the vehicle for a given image, which can be used todefine the path of the vehicle ahead of the current location of thevehicle (the location for where the image was captured) can bedetermined by processing subsequent image, for example, the subsequentimages are images that were captured as the car continued to move aheadthe road (e.g., forward of the current location).

As mentioned above, at each iteration of the training, a loss functionis computed based on a respective provisional future path that wasestimated by a current state of weights and a respective prestored path(block 850). The weights of the trained system can be updated accordingto results of the loss function (block 860). Reference is now made toFIGS. 15A and 15B, which provide graphical illustrations of certainaspects of the training, according to examples of the presentlydisclosed subject matter. In FIG. 15A an iteration of the training isshown. In FIG. 15A, a prestored path 1512 was generated based ondetection (e.g., by technicians) of lane marks on the road ahead of thelocation from where an image 1510 was captured. A provisional futurepath 1514 is computed by the trained system, and a loss function iscomputed based on a respective provisional future path 1514 that wasestimated by a current state of weights and a respective prestored path1512. According to examples of the presently disclosed subject matter,the loss function uses a top view (“in the world”) representation, e.g.,using the camera(s) focal length, the camera(s) height and a dynamichorizon, of the prestored path 1512 and of the provisional future path1514, and absolute loss is computed. The loss function can be configuredto penalized errors in meters in the real world (it focalized thescoring on far errors). In some embodiments, the marked object, forexample, the lane marking manually marked by technicians, can alsoinclude virtual objects, such as junctions, areas where lane marks aremissing, unmarked highway exits or merges, etc., as is shown forexample, in FIG. 18 , where virtual lane marks 1810 are added to mark ahighway exist, in accordance with examples of the presently disclosedsubject matter.

In FIG. 15B, a prestored path 1522 was generated based on ego-motion ofthe vehicle, and its subsequent path along the road (which in this caseis) ahead of the location from where a 1520 image was captured.According to examples of the presently disclosed subject matter, forego-motion based prestored path data, an optimal offset between theprestored path 1522 and a provisional future path 1524 provided by thetrained system can be determined, and the loss function can be computedafter correction by the optimal offset.

According to examples of the presently disclosed subject matter, thetraining of the system can be carried out until a stop condition is met.In some embodiments, the stop condition can be a certain number ofiterations. For example, the first plurality of training images caninclude a relatively higher number of images of environments whichappear relatively rarely on roads, for example, images of environmentsthat comprise a curved road. In another example, the first plurality oftraining images includes a relatively higher number of images ofenvironments that comprise a lane split, a lane merge, a highway exit, ahighway entrance and/or a junction; in yet another example. In yetanother example, the first plurality of training images can include arelatively higher number of images of environments that comprise a pooror no lane markings, Botts dots and/or shadows on a road ahead of thevehicle.

According to a further aspect of the presently disclosed subject matter,there is provided a system and a method for estimating a future pathahead of a current location of a vehicle. Reference is now made to FIG.11 , which is a flow chart illustration of a method of estimating afuture path ahead of a current location of a vehicle, according toexamples of the presently disclosed subject matter. The method may beimplemented by a processor. According to examples of the presentlydisclosed subject matter, the method of estimating a future path aheadof a current location of a vehicle can include: obtaining an image of anenvironment ahead of a current arbitrary location of a vehiclenavigating a road (block 1110). A system that was trained to estimate afuture path on a first plurality of images of environments ahead ofvehicles navigating roads can be obtained (block 1120). In someembodiments, the trained system may include a network, such as a neuralnetwork. In other embodiments, the trained system can be a deep leaningsystem using, for example, machine leaning algorithms. The trainedsystem can be applied to the image of the environment ahead of thecurrent arbitrary location of the vehicle (block 1130). An estimatedfuture path of the vehicle ahead of the current arbitrary location canbe provided by the trained system (block 1140).

Reference is made to FIG. 10 , which is a graphical illustration ofcertain aspects of the method of estimating a future path ahead of acurrent location of a vehicle, according to examples of the presentlydisclosed subject matter. As is shown in FIG. 10 , a vehicle 1010 isentering a section of road 1020. The road 1020 is an arbitrary road, andimages from the road 1020 may or may not have been used in the trainingof the system (e.g., a neural network, deep learning system, etc.). Thevehicle 1010 includes a camera (not shown) which captures images. Theimages captured by the camera on board the vehicle 1010 may or may notbe cropped, or processed in any other way (e.g., down sampled) beforebeing fed to the trained system. In FIG. 10 , an image is illustrated bycone 630 which represents the FOV of the camera mounted in vehicle 1010.The image depicts arbitrary objects in the FOV of the camera. The imagecan, but does not necessarily, include road objects, such as road signs,lane marks, curbs, other vehicles, etc. The image can include otherarbitrary objects, such as structures and trees at the sides of theroad, etc.

The trained system can be applied to the image 1030 of the environmentahead of the current arbitrary location of the vehicle 1010, and canprovide an estimated future path of the vehicle 1010 ahead of thecurrent arbitrary location. In FIG. 10 , the estimated future path isdenoted by pins 1041-1047. FIGS. 16A, 16B, 17A, and 17B furtherillustrate images including the estimated future paths 1610, 1620, 1710,and 1720 consistent with the disclosed embodiments.

In some embodiments, the trained system can include piece-wise affinefunctions of global functions. In some embodiments, the global functionscan include: convolutions, max pooling and/or rectifier liner unit(ReLU).

In some embodiments, the method can further include: utilizing theestimated future path ahead of the current location of the vehicle tocontrol at least one electronic or mechanical unit of the vehicle tochange at least one motion parameter of the vehicle. In someembodiments, the method can further include: utilizing the estimatedfuture path ahead of the current location of the vehicle to provide asensory feedback to a driver of the vehicle.

In some embodiments, the estimated future path of the vehicle ahead ofthe current location can be further based on identifying one or morepredefined objects appearing in the image of the environment using atleast one classifier.

The method can further include: utilizing the estimated future pathahead of the current location of the vehicle to provide a control pointfor a steering control function of the vehicle.

In some embodiments, applying the trained system to the image of theenvironment ahead of the current location of the vehicle provides two ormore estimated future paths of the vehicle ahead of the currentlocation.

In some embodiments, the method can further include: utilizing theestimated future path ahead of the current location of the vehicle inestimating a road profile ahead of the current location of the vehicle.

In some embodiments, applying the trained system to the image of theenvironment ahead of the current location of the vehicle provides two ormore estimated future paths of the vehicle ahead of the currentlocation, and can further include estimating a road profile along eachone of the two or more estimated future paths of the vehicle ahead ofthe current location.

In some embodiments, the method can further include: utilizing theestimated future path ahead of the current location of the vehicle indetecting one or more vehicles that are located in or near the futurepath of the vehicle.

In some embodiments, the method can further include causing at least oneelectronic or mechanical unit of the vehicle to change at least onemotion parameter of the vehicle based on a location of one or morevehicles which were determined to be in or near the future path of thevehicle.

In some embodiments, the method can further include: triggering asensory alert to indicate to a user of that one or more vehicles aredetermined to be in or near the future path of the vehicle.

In some embodiments, in addition to processing images of an environmentahead of a vehicle navigating a road for training a system (e.g., aneural network, deep learning system, etc.) to estimate a future path ofa vehicle based on images and/or processing images of an environmentahead of a vehicle navigating a road using a trained system to estimatea future path of the vehicle, a confidence level may be provided in thetraining phase or used in the navigation phase which uses the trainedsystem. A Holistic Path Prediction (HPP) confidence is an output made bya trained system, such as a neural network, similar to a neural networkfor HPP. The concept may generate a classifier that tries to guess theerror of another classifier on the same image. One method ofimplementing this is using one trained system (e.g., a first neuralnetwork) to give the used output (for example, a location of lane, orcenter of lane, or predicted future path), and to train another system(e.g., a second neural network), using the same input data (or a subsetof that data, or features that are extracted from that data) to estimatethe error of the first trained system on that image (e.g., estimateabsolute-average-loss of the prediction of the first trained system).

With any of the described techniques, a future path for a host vehicle(e.g., a planned trajectory) can be generated, and automated controlsystems may cause changes in various actuators associated with the hostvehicle (e.g., steering actuators, braking actuators, etc.) such thatthe host vehicle is made to navigate autonomously relative to theplanned trajectory. In some cases, the host vehicle may navigate exactlyaccording the planned trajectory. In other cases, however, at least someerror in the system may exist such that the host vehicle does not followthe planned trajectory exactly, but rather follows the plannedtrajectory within some acceptable tolerance. Through use of trainedsystems, trained using actual drive paths associated with hundreds,thousands, or millions of traversals over a particular road segmentunder various conditions, the system may be capable of generated plannedtrajectories in a wide range of conditions. For example, plannedtrajectories may be generated for road segments having few or no line orlane markings, for road segments whose edges are partially or fullyobscured (e.g., by parked cars, etc.), for parking lots, or any othertype of navigable surface.

Sparse Map for Autonomous Vehicle Navigation

In some embodiments, the disclosed systems and methods may use a sparsemap for autonomous vehicle navigation. For example, the sparse map mayprovide sufficient information for navigation without requiringexcessive data storage or data transfer rates. As discussed below infurther detail, a vehicle (which may be an autonomous vehicle) may usethe sparse map to navigate one or more roads. For example, in someembodiments, the sparse map may include data related to a road andpotentially landmarks along the road that may be sufficient for vehiclenavigation, but which also exhibit small data footprints. For example,the sparse data maps described in detail below may require significantlyless storage space and data transfer bandwidth as compared with digitalmaps including detailed map information, such as image data collectedalong a road. For example, rather than storing detailed representationsof a road segment, the sparse data map may store three dimensionalpolynomial representations of preferred vehicle paths along a road.These paths may require very little data storage space. Further, in thedescribed sparse data maps, landmarks may be identified and included inthe sparse map road model to aid in navigation. These landmarks may belocated at any spacing suitable for enabling vehicle navigation, but insome cases, such landmarks need not be identified and included in themodel at high densities and short spacings. Rather, in some cases,navigation may be possible based on landmarks that are spaced apart byat least 50 meters, at least 100 meters, at least 500 meters, at least 1kilometer, or at least 2 kilometers. As will be discussed in more detailin other sections, the sparse map may be generated based on datacollected or measured by vehicles equipped with various sensors anddevices, such as image capture devices, Global Positioning Systemsensors, motion sensors, etc., as the vehicles travel along roadways. Insome cases, the sparse map may be generated based on data collectedduring multiple drives of one or more vehicles along a particularroadway.

Consistent with disclosed embodiments, an autonomous vehicle system mayuse a sparse map for navigation. At the core of the sparse maps, one ormore three-dimensional contours may represent predetermined trajectoriesthat autonomous vehicles may traverse as they move along associated roadsegments. The sparse maps may also include data representing one or moreroad features. Such road features may include recognized landmarks, roadsignature profiles, and any other road-related features useful innavigating a vehicle. The sparse maps may enable autonomous navigationof a vehicle based on relatively small amounts of data included in thesparse map. For example, rather than including detailed representationsof a road, such as road edges, road curvature, images associated withroad segments, or data detailing other physical features associated witha road segment, the disclosed embodiments of the sparse map may requirerelatively little storage space (and relatively little bandwidth whenportions of the sparse map are transferred to a vehicle), but may stilladequately provide for autonomous vehicle navigation. The small datafootprint of the disclosed sparse maps, discussed in further detailbelow, may be achieved in some embodiments by storing representations ofroad-related elements that require small amounts of data, but stillenable autonomous navigation. For example, rather than storing detailedrepresentations of various aspects of a road, the disclosed sparse mapsmay store polynomial representations of one or more trajectories that avehicle may follow along the road. Thus, rather than storing (or havingto transfer) details regarding the physical nature of the road to enablenavigation along the road, using the disclosed sparse maps, a vehiclemay be navigated along a particular road segment without, in some cases,having to interpret physical aspects of the road, but rather, byaligning its path of travel with a trajectory (e.g., a polynomialspline) along the particular road segment. In this way, the vehicle maybe navigated based mainly upon the stored trajectory (e.g., a polynomialspline) that may require much less storage space than an approachinvolving storage of roadway images, road parameters, road layout, etc.

In addition to the stored polynomial representations of trajectoriesalong a road segment, the disclosed sparse maps may also include smalldata objects that may represent a road feature. In some embodiments, thesmall data objects may include digital signatures, which are derivedfrom a digital image (or a digital signal) that was obtained by a sensor(e.g., a camera or other sensor, such as a suspension sensor) onboard avehicle traveling along the road segment. The digital signature may havea reduced size relative to the signal that was acquired by the sensor.In some embodiments, the digital signature may be created to becompatible with a classifier function that is configured to detect andto identify the road feature from the signal that is acquired by thesensor, for example during a subsequent drive. In some embodiments, adigital signature may be created such that it has a footprint that is assmall as possible, while retaining the ability to correlate or match theroad feature with the stored signature based on an image (or a digitalsignal generated by a sensor, if the stored signature is not based on animage and/or includes other data) of the road feature that is capturedby a camera onboard a vehicle traveling along the same road segment at asubsequent time. In some embodiments, a size of the data objects may befurther associated with a uniqueness of the road feature. For example,for a road feature that is detectable by a camera onboard a vehicle, andwhere the camera system onboard the vehicle is coupled to a classifierwhich is capable of distinguishing the image data corresponding to thatroad feature as being associated with a particular type of road feature,for example, a road sign, and where such a road sign is locally uniquein that area (e.g., there is no identical road sign or road sign of thesame type nearby), it may be sufficient to store data indicating thetype of the road feature and its location.

As will be discussed in further detail below, road features (e.g.,landmarks along a road segment) may be stored as small data objects thatmay represent a road feature in relatively few bytes, while at the sametime providing sufficient information for recognizing and using such afeature for navigation. In just one example, a road sign may beidentified as a recognized landmark on which navigation of a vehicle maybe based. A representation of the road sign may be stored in the sparsemap to include, e.g., a few bytes of data indicating a type of landmark(e.g., a stop sign) and a few bytes of data indicating a location of thelandmark. Navigating based on such data-light representations of thelandmarks (e.g., using representations sufficient for locating,recognizing, and navigating based upon the landmarks) may provide adesired level of navigational functionality associated with sparse mapswithout significantly increasing the data overhead associated with thesparse maps. This lean representation of landmarks (and other roadfeatures) may take advantage of the sensors and processors includedonboard such vehicles that are configured to detect, identify, and/orclassify certain road features. When, for example, a sign or even aparticular type of a sign is locally unique (e.g., when there is noother sign or no other sign of the same type) in a given area, thesparse map may use data indicating a type of a landmark (a sign or aspecific type of sign), and during navigation (e.g., autonomousnavigation) when a camera onboard an autonomous vehicle captures animage of the area including a sign (or of a specific type of sign), theprocessor may process the image, detect the sign (if indeed present inthe image), classify it as a sign (or as a specific type of sign), andcorrelate its location with the location of the sign as stored in thesparse map.

In some embodiments, an autonomous vehicle may include a vehicle bodyand a processor configured to receive data included in a sparse map andgenerate navigational instructions for navigating the vehicle along aroad segment based on the data in the sparse map.

FIG. 19 shows a sparse map 1900 that vehicle 200 (which may be anautonomous vehicle) may access for providing autonomous vehiclenavigation. Sparse map 1900 may be stored in a memory, such as memory140 or 150. Such memory devices may include any types of non-transitorystorage devices or computer-readable media. For example, in someembodiments, memory 140 or 150 may include hard drives, compact discs,flash memory, magnetic based memory devices, optical based memorydevices, etc. In some embodiments, sparse map 1900 may be stored in adatabase (e.g., map database 160) that may be stored in memory 140 or150, or other types of storage devices.

In some embodiments, sparse map 1900 may be stored on a storage deviceor a non-transitory computer-readable medium provided onboard vehicle200 (e.g., a storage device included in a navigation system onboardvehicle 200). A processor (e.g., processing unit 110) provided onvehicle 200 may access sparse map 1900 stored in the storage device orcomputer-readable medium provided onboard vehicle 200 in order togenerate navigational instructions for guiding the autonomous vehicle200 as it traverses a road segment.

Sparse map 1900 need not be stored locally with respect to a vehicle,however. In some embodiments, sparse map 1900 may be stored on a storagedevice or computer-readable medium provided on a remote server thatcommunicates with vehicle 200 or a device associated with vehicle 200. Aprocessor (e.g., processing unit 110) provided on vehicle 200 mayreceive data included in sparse map 1900 from the remove server and mayexecute the data for guiding the autonomous driving of vehicle 200. Insuch embodiments, sparse map 1900 may be made accessible to a pluralityof vehicles traversing various road segments (e.g., tens, hundreds,thousands, or millions of vehicles, etc.). It should be noted also thatsparse map 1900 may include multiple sub-maps. For example, in someembodiments, sparse map 1900 may include hundreds, thousands, millions,or more, of sub-maps that can be used in navigating a vehicle. Suchsub-maps may be referred to as local maps, and a vehicle traveling alonga roadway may access any number of local maps relevant to a location inwhich the vehicle is traveling. The local map sections of sparse map1900 may be stored with a Global Navigation Satellite System (GNSS) keyas an index to the database of sparse map 1900. Thus, while computationof steering angles for navigating a host vehicle in the present systemmay be performed without reliance upon a GNSS position of the hostvehicle, road features, or landmarks, such GNSS information may be usedfor retrieval of relevant local maps.

Collection of data and generation of sparse map 1900 is covered indetail in other sections. In general, however, sparse map 1900 may begenerated based on data collected from one or more vehicles as theytravel along roadways. For example, using sensors aboard the one or morevehicles (e.g., cameras, speedometers, GPS, accelerometers, etc.), thetrajectories that the one or more vehicles travel along a roadway may berecorded, and the polynomial representation of a preferred trajectoryfor vehicles making subsequent trips along the roadway may be determinedbased on the collected trajectories travelled by the one or morevehicles. Similarly, data collected by the one or more vehicles may aidin identifying potential landmarks along a particular roadway. Datacollected from traversing vehicles may also be used to identify roadprofile information, such as road width profiles, road roughnessprofiles, traffic line spacing profiles, etc. Using the collectedinformation, sparse map 1900 may be generated and distributed (e.g., forlocal storage or via on-the-fly data transmission) for use in navigatingone or more autonomous vehicles. Map generation may not end upon initialgeneration of the map, however. As will be discussed in greater detailin other sections, sparse map 1900 may be continuously or periodicallyupdated based on data collected from vehicles as those vehicles continueto traverse roadways included in sparse map 1900.

Data recorded in sparse map 1900 may include position information basedon Global Positioning System (GPS) data. For example, locationinformation may be included in sparse map 1900 for various map elements,including, for example, landmark locations, road profile locations, etc.Locations for map elements included in sparse map 1900 may be obtainedusing GPS data collected from vehicles traversing a roadway. Forexample, a vehicle passing an identified landmark may determine alocation of the identified landmark using GPS position informationassociated with the vehicle and a determination of a location of theidentified landmark relative to the vehicle (e.g., based on imageanalysis of data collected from one or more cameras on board thevehicle). Such location determinations of an identified landmark (or anyother feature included in sparse map 1900) may be repeated as additionalvehicles pass the location of the identified landmark. Some or all ofthe additional location determinations can be used to refine thelocation information stored in sparse map 1900 relative to theidentified landmark. For example, in some embodiments, multiple positionmeasurements relative to a particular feature stored in sparse map 1900may be averaged together. Any other mathematical operations, however,may also be used to refine a stored location of a map element based on aplurality of determined locations for the map element.

The sparse map of the disclosed embodiments may enable autonomousnavigation of a vehicle using relatively small amounts of stored data.In some embodiments, sparse map 1900 may have a data density (e.g.,including data representing the target trajectories, landmarks, and anyother stored road features) of less than 2 MB per kilometer of roads,less than 1 MB per kilometer of roads, less than 500 kB per kilometer ofroads, or less than 100 kB per kilometer of roads. In some embodiments,the data density of sparse map 1900 may be less than 10 kB per kilometerof roads or even less than 2 kB per kilometer of roads (e.g., 1.6 kB perkilometer), or no more than 10 kB per kilometer of roads, or no morethan 20 kB per kilometer of roads. In some embodiments, most if not allof the roadways of the United States may be navigated autonomously usinga sparse map having a total of 4 GB or less of data. These data densityvalues may represent an average over an entire sparse map 1900, over alocal map within sparse map 1900, and/or over a particular road segmentwithin sparse map 1900.

As noted, sparse map 1900 may include representations of a plurality oftarget trajectories 1910 for guiding autonomous driving or navigationalong a road segment. Such target trajectories may be stored asthree-dimensional splines. The target trajectories stored in sparse map1900 may be determined based on two or more reconstructed trajectoriesof prior traversals of vehicles along a particular road segment. A roadsegment may be associated with a single target trajectory or multipletarget trajectories. For example, on a two lane road, a first targettrajectory may be stored to represent an intended path of travel alongthe road in a first direction, and a second target trajectory may bestored to represent an intended path of travel along the road in anotherdirection (e.g., opposite to the first direction). Additional targettrajectories may be stored with respect to a particular road segment.For example, on a multi-lane road, one or more target trajectories maybe stored representing intended paths of travel for vehicles in one ormore lanes associated with the multi-lane road. In some embodiments,each lane of a multi-lane road may be associated with its own targettrajectory. In other embodiments, there may be fewer target trajectoriesstored than lanes present on a multi-lane road. In such cases, a vehiclenavigating the multi-lane road may use any of the stored targettrajectories to guides its navigation by taking into account an amountof lane offset from a lane for which a target trajectory is stored(e.g., if a vehicle is traveling in the left most lane of a three lanehighway, and a target trajectory is stored only for the middle lane ofthe highway, the vehicle may navigate using the target trajectory of themiddle lane by accounting for the amount of lane offset between themiddle lane and the left-most lane when generating navigationalinstructions).

In some embodiments, the target trajectory may represent an ideal paththat a vehicle should take as the vehicle travels. The target trajectorymay be located, for example, at an approximate center of a lane oftravel. In other cases, the target trajectory may be located elsewhererelative to a road segment. For example, a target trajectory mayapproximately coincide with a center of a road, an edge of a road, or anedge of a lane, etc. In such cases, navigation based on the targettrajectory may include a determined amount of offset to be maintainedrelative to the location of the target trajectory. Moreover, in someembodiments, the determined amount of offset to be maintained relativeto the location of the target trajectory may differ based on a type ofvehicle (e.g., a passenger vehicle including two axles may have adifferent offset from a truck including more than two axles along atleast a portion of the target trajectory).

Sparse map 1900 may also include data relating to a plurality ofpredetermined landmarks 1920 associated with particular road segments,local maps, etc. As discussed in detail in other sections, theselandmarks may be used in navigation of the autonomous vehicle. Forexample, in some embodiments, the landmarks may be used to determine acurrent position of the vehicle relative to a stored target trajectory.With this position information, the autonomous vehicle may be able toadjust a heading direction to match a direction of the target trajectoryat the determined location.

The plurality of landmarks 1920 may be identified and stored in sparsemap 1900 at any suitable spacing. In some embodiments, landmarks may bestored at relatively high densities (e.g., every few meters or more). Insome embodiments, however, significantly larger landmark spacing valuesmay be employed. For example, in sparse map 1900, identified (orrecognized) landmarks may be spaced apart by 10 meters, 20 meters, 50meters, 100 meters, 1 kilometer, or 2 kilometers. In some cases, theidentified landmarks may be located at distances of even more than 2kilometers apart. Between landmarks, and therefore betweendeterminations of vehicle position relative to a target trajectory, thevehicle may navigate based on dead reckoning in which it uses sensors todetermine its ego motion and estimate its position relative to thetarget trajectory. Because errors may accumulate during navigation bydead reckoning, over time the position determinations relative to thetarget trajectory may become increasingly less accurate. The vehicle mayuse landmarks occurring in sparse map 1900 (and their known locations)to remove the dead reckoning-induced errors in position determination.In this way, the identified landmarks included in sparse map 1900 mayserve as navigational anchors from which an accurate position of thevehicle relative to a target trajectory may be determined. Because acertain amount of error may be acceptable in position location, anidentified landmark need not always be available to an autonomousvehicle. Rather, suitable navigation may be possible even based onlandmark spacings, as noted above, of 10 meters, 20 meters, 50 meters,100 meters, 500 meters, 1 kilometer, 2 kilometers, or more. In someembodiments, a density of 1 identified landmark every 1 km of road maybe sufficient to maintain a longitudinal position determination accuracywithin 1 m. Thus, not every potential landmark appearing along a roadsegment need be stored in sparse map 1900.

In addition to target trajectories and identified landmarks, sparse map1900 may include information relating to various other road features.For example, FIG. 20A illustrates a representation of curves along aparticular road segment that may be stored in sparse map 1900. In someembodiments, a single lane of a road may be modeled by athree-dimensional polynomial description of left and right sides of theroad. Such polynomials representing left and right sides of a singlelane are shown in FIG. 20A. Regardless of how many lanes a road mayhave, the road may be represented using polynomials in a way similar tothat illustrated in FIG. 20A. For example, left and right sides of amulti-lane road may be represented by polynomials similar to those shownin FIG. 20A, and intermediate lane markings included on a multi-laneroad (e.g., dashed markings representing lane boundaries, solid yellowlines representing boundaries between lanes traveling in differentdirections, etc.) may also be represented using polynomials such asthose shown in FIG. 20A.

As shown in FIG. 20A, a lane 2000 may be represented using polynomials(e.g., a first order, second order, third order, or any suitable orderpolynomials). For illustration, lane 2000 is shown as a two-dimensionallane and the polynomials are shown as two-dimensional polynomials. Lane2000 includes a left side 2010 and a right side 2020. In someembodiments, more than one polynomial may be used to represent alocation of each side of the road or lane boundary. For example, each ofleft side 2010 and right side 2020 may be represented by a plurality ofpolynomials of any suitable length. In some cases, the polynomials mayhave a length of about 100 m, although other lengths greater than orless than 100 m may also be used. Additionally, the polynomials canoverlap with one another in order to facilitate seamless transitions innavigating based on subsequently encountered polynomials as a hostvehicle travels along a roadway. For example, each of left side 2010 andright side 2020 may be represented by a plurality of third orderpolynomials separated into segments of about 100 meters in length (anexample of the first predetermined range), and overlapping each other byabout 50 meters. The polynomials representing the left side 2010 and theright side 2020 may or may not have the same order. For example, in someembodiments, some polynomials may be second order polynomials, some maybe third order polynomials, and some may be fourth order polynomials.

In the example shown in FIG. 20A, left side 2010 of lane 2000 isrepresented by two groups of third order polynomials. The first groupincludes polynomial segments 2011, 2012, and 2013. The second groupincludes polynomial segments 2014, 2015, and 2016. The two groups, whilesubstantially parallel to each other, follow the locations of theirrespective sides of the road. Polynomial segments 2011-2016 have alength of about 100 meters and overlap adjacent segments in the seriesby about 50 meters. As noted previously, however, polynomials ofdifferent lengths and different overlap amounts may also be used. Forexample, the polynomials may have lengths of 500 m, 1 km, or more, andthe overlap amount may vary from 0 to 50 m, 50 m to 100 m, or greaterthan 100 m. Additionally, while FIG. 20A is shown as representingpolynomials extending in 2D space (e.g., on the surface of the paper),it is to be understood that these polynomials may represent curvesextending in three dimensions (e.g., including a height component) torepresent elevation changes in a road segment in addition to X-Ycurvature.

Returning to the target trajectories of sparse map 1900, FIG. 20B showsa three-dimensional polynomial representing a target trajectory for avehicle traveling along a particular road segment. The target trajectoryrepresents not only the X-Y path that a host vehicle should travel alonga particular road segment, but also the elevation change that the hostvehicle will experience when traveling along the road segment. Thus,each target trajectory in sparse map 1900 may be represented by one ormore three-dimensional polynomials, like the three-dimensionalpolynomial 2050 shown in FIG. 20B. Sparse map 1900 may include aplurality of trajectories (e.g., millions or billions or more torepresent trajectories of vehicles along various road segments alongroadways throughout the world). In some embodiments, each targettrajectory may correspond to a spline connecting three-dimensionalpolynomial segments.

Regarding the data footprint of polynomial curves stored in sparse map1900, in some embodiments, each third degree polynomial may berepresented by four parameters, each requiring four bytes of data.Suitable representations may be obtained with third degree polynomialsrequiring about 192 bytes of data for every 100 m. This translates toapproximately 200 kB per hour in data usage/transfer requirements for ahost vehicle traveling approximately 100 km/hr.

Sparse map 1900 may describe the lanes network using a combination ofgeometry descriptors and meta-data. The geometry may be described bypolynomials or splines as described above. The meta-data may describethe number of lanes, special characteristics (such as a car pool lane),and possibly other sparse labels. The total footprint of such indicatorsmay be negligible.

As previously noted, sparse map 1900 may include a plurality ofpredetermined landmarks associated with a road segment. Rather thanstoring actual images of the landmarks and relying, for example, onimage recognition analysis based on captured images and stored images,each landmark in sparse map 1900 may be represented and recognized usingless data than a stored, actual image would require. Data representinglandmarks may include sufficient information for describing oridentifying the landmarks along a road. Storing data describingcharacteristics of landmarks, rather than the actual images oflandmarks, may reduce the size of sparse map 1900.

FIG. 21 illustrates examples of types of landmarks that may berepresented in sparse map 1900. The landmarks may include any visibleand identifiable objects along a road segment. The landmarks may beselected such that they are fixed and do not change often with respectto their locations and/or content. The landmarks included in sparse map1900 may be useful in determining a location of vehicle 200 with respectto a target trajectory as the vehicle traverses a particular roadsegment. Examples of landmarks may include traffic signs, directionalsigns, general signs (e.g., rectangular signs), roadside fixtures (e.g.,lampposts, reflectors, etc.), and any other suitable category. In someembodiments, lane marks on the road, may also be included as landmarksin sparse map 1900.

Examples of landmarks shown in FIG. 21 include traffic signs,directional signs, roadside fixtures, and general signs. Traffic signsmay include, for example, speed limit signs (e.g., speed limit sign2100), yield signs (e.g., yield sign 2105), route number signs (e.g.,route number sign 2110), traffic light signs (e.g., traffic light sign2115), stop signs (e.g., stop sign 2120). Directional signs may includea sign that includes one or more arrows indicating one or moredirections to different places. For example, directional signs mayinclude a highway sign 2125 having arrows for directing vehicles todifferent roads or places, an exit sign 2130 having an arrow directingvehicles off a road, etc.

General signs may be unrelated to traffic. For example, general signsmay include billboards used for advertisement, or a welcome boardadjacent a border between two countries, states, counties, cities, ortowns. FIG. 21 shows a general sign 2140 (“Joe's Restaurant”). Althoughgeneral sign 2140 may have a rectangular shape, as shown in FIG. 21 ,general sign 2140 may have other shapes, such as square, circle,triangle, etc.

Landmarks may also include roadside fixtures. Roadside fixtures may beobjects that are not signs, and may not be related to traffic ordirections. For example, roadside fixtures may include lampposts (e.g.,lamppost 2135), power line posts, traffic light posts, etc.

Landmarks may also include beacons that may be specifically designed forusage in an autonomous vehicle navigation system. For example, suchbeacons may include stand-alone structures placed at predeterminedintervals to aid in navigating a host vehicle. Such beacons may alsoinclude visual/graphical information added to existing road signs (e.g.,icons, emblems, bar codes, etc.) that may be identified or recognized bya vehicle traveling along a road segment. Such beacons may also includeelectronic components. In such embodiments, electronic beacons (e.g.,RFID tags, etc.) may be used to transmit non-visual information to ahost vehicle. Such information may include, for example, landmarkidentification and/or landmark location information that a host vehiclemay use in determining its position along a target trajectory.

In some embodiments, the landmarks included in sparse map 1900 may berepresented by a data object of a predetermined size. The datarepresenting a landmark may include any suitable parameters foridentifying a particular landmark. For example, in some embodiments,landmarks stored in sparse map 1900 may include parameters such as aphysical size of the landmark (e.g., to support estimation of distanceto the landmark based on a known size/scale), a distance to a previouslandmark, lateral offset, height, a type code (e.g., a landmarktype—what type of directional sign, traffic sign, etc.), a GPScoordinate (e.g., to support global localization), and any othersuitable parameters. Each parameter may be associated with a data size.For example, a landmark size may be stored using 8 bytes of data. Adistance to a previous landmark, a lateral offset, and height may bespecified using 12 bytes of data. A type code associated with a landmarksuch as a directional sign or a traffic sign may require about 2 bytesof data. For general signs, an image signature enabling identificationof the general sign may be stored using 50 bytes of data storage. Thelandmark GPS position may be associated with 16 bytes of data storage.These data sizes for each parameter are examples only, and other datasizes may also be used.

Representing landmarks in sparse map 1900 in this manner may offer alean solution for efficiently representing landmarks in the database. Insome embodiments, signs may be referred to as semantic signs andnon-semantic signs. A semantic sign may include any class of signs forwhich there's a standardized meaning (e.g., speed limit signs, warningsigns, directional signs, etc.). A non-semantic sign may include anysign that is not associated with a standardized meaning (e.g., generaladvertising signs, signs identifying business establishments, etc.). Forexample, each semantic sign may be represented with 38 bytes of data(e.g., 8 bytes for size; 12 bytes for distance to previous landmark,lateral offset, and height; 2 bytes for a type code; and 16 bytes forGPS coordinates). Sparse map 1900 may use a tag system to representlandmark types. In some cases, each traffic sign or directional sign maybe associated with its own tag, which may be stored in the database aspart of the landmark identification. For example, the database mayinclude on the order of 1000 different tags to represent various trafficsigns and on the order of about 10000 different tags to representdirectional signs. Of course, any suitable number of tags may be used,and additional tags may be created as needed. General purpose signs maybe represented in some embodiments using less than about 100 bytes(e.g., about 86 bytes including 8 bytes for size; 12 bytes for distanceto previous landmark, lateral offset, and height; 50 bytes for an imagesignature; and 16 bytes for GPS coordinates).

Thus, for semantic road signs not requiring an image signature, the datadensity impact to sparse map 1900, even at relatively high landmarkdensities of about 1 per 50 m, may be on the order of about 760 bytesper kilometer (e.g., 20 landmarks per km×38 bytes per landmark=760bytes). Even for general purpose signs including an image signaturecomponent, the data density impact is about 1.72 kB per km (e.g., 20landmarks per km×86 bytes per landmark=1,720 bytes). For semantic roadsigns, this equates to about 76 kB per hour of data usage for a vehicletraveling 100 km/hr. For general purpose signs, this equates to about170 kB per hour for a vehicle traveling 100 km/hr.

In some embodiments, a generally rectangular object, such as arectangular sign, may be represented in sparse map 1900 by no more than100 byte of data. The representation of the generally rectangular object(e.g., general sign 2140) in sparse map 1900 may include a condensedimage signature (e.g., condensed image signature 2145) associated withthe generally rectangular object. This condensed image signature may beused, for example, to aid in identification of a general purpose sign,for example, as a recognized landmark. Such a condensed image signature(e.g., image information derived from actual image data representing anobject) may avoid a need for storage of an actual image of an object ora need for comparative image analysis performed on actual images inorder to recognize landmarks.

Referring to FIG. 21 , sparse map 1900 may include or store a condensedimage signature 2145 associated with a general sign 2140, rather than anactual image of general sign 2140. For example, after an image capturedevice (e.g., image capture device 122, 124, or 126) captures an imageof general sign 2140, a processor (e.g., image processor 190 or anyother processor that can process images either aboard or remotelylocated relative to a host vehicle) may perform an image analysis toextract/create condensed image signature 2145 that includes a uniquesignature or pattern associated with general sign 2140. In oneembodiment, condensed image signature 2145 may include a shape, colorpattern, a brightness pattern, or any other feature that may beextracted from the image of general sign 2140 for describing generalsign 2140. For example, in FIG. 21 , the circles, triangles, and starsshown in condensed image signature 2145 may represent areas of differentcolors. The pattern represented by the circles, triangles, and stars maybe stored in sparse map 1900, e.g., within the 50 bytes designated toinclude an image signature. Notably, the circles, triangles, and starsare not necessarily meant to indicate that such shapes are stored aspart of the image signature. Rather, these shapes are meant toconceptually represent recognizable areas having discernible colordifferences, textual areas, graphical shapes, or other variations incharacteristics that may be associated with a general purpose sign. Suchcondensed image signatures can be used to identify a landmark in theform of a general sign. For example, the condensed image signature canbe used to perform a same-not-same analysis based on a comparison of astored condensed image signature with image data captured, for example,using a camera onboard an autonomous vehicle.

Returning to the target trajectories a host vehicle may use to navigatea particular road segment, FIG. 22A shows polynomial representationstrajectories capturing during a process of building or maintainingsparse map 1900. A polynomial representation of a target trajectoryincluded in sparse map 1900 may be determined based on two or morereconstructed trajectories of prior traversals of vehicles along thesame road segment. In some embodiments, the polynomial representation ofthe target trajectory included in sparse map 1900 may be an aggregationof two or more reconstructed trajectories of prior traversals ofvehicles along the same road segment. In some embodiments, thepolynomial representation of the target trajectory included in sparsemap 1900 may be an average of the two or more reconstructed trajectoriesof prior traversals of vehicles along the same road segment. Othermathematical operations may also be used to construct a targettrajectory along a road path based on reconstructed trajectoriescollected from vehicles traversing along a road segment.

As shown in FIG. 22A, a road segment 2200 may be travelled by a numberof vehicles 200 at different times. Each vehicle 200 may collect datarelating to a path that it took along the road segment. The pathtraveled by a particular vehicle may be determined based on camera data,accelerometer information, speed sensor information, and/or GPSinformation, among other potential sources. Such data may be used toreconstruct trajectories of vehicles traveling along the road segment,and based on these reconstructed trajectories, a target trajectory (ormultiple target trajectories) may be determined for the particular roadsegment. Such target trajectories may represent a preferred path of ahost vehicle (e.g., guided by an autonomous navigation system) as ittravels along the road segment.

In the example shown in FIG. 22A, a first reconstructed trajectory 2201may be determined based on data received from a first vehicle traversingroad segment 2200 at a first time period (e.g., day 1), a secondreconstructed trajectory 2202 may be obtained from a second vehicletraversing road segment 2200 at a second time period (e.g., day 2), anda third reconstructed trajectory 2203 may be obtained from a thirdvehicle traversing road segment 2200 at a third time period (e.g., day3). Each trajectory 2201, 2202, and 2203 may be represented by apolynomial, such as a three-dimensional polynomial. It should be notedthat in some embodiments, any of the reconstructed trajectories may beassembled onboard the vehicles traversing road segment 2200.

Additionally, or alternatively, such reconstructed trajectories may bedetermined on a server side based on information received from vehiclestraversing road segment 2200. For example, in some embodiments, vehicles200 may transmit data to one or more servers relating to their motionalong road segment 2200 (e.g., steering angle, heading, time, position,speed, sensed road geometry, and/or sensed landmarks, among things). Theserver may reconstruct trajectories for vehicles 200 based on thereceived data. The server may also generate a target trajectory forguiding navigation of autonomous vehicle that will travel along the sameroad segment 2200 at a later time based on the first, second, and thirdtrajectories 2201, 2202, and 2203. While a target trajectory may beassociated with a single prior traversal of a road segment, in someembodiments, each target trajectory included in sparse map 1900 may bedetermined based on two or more reconstructed trajectories of vehiclestraversing the same road segment. In FIG. 22A, the target trajectory isrepresented by 2210. In some embodiments, the target trajectory 2210 maybe generated based on an average of the first, second, and thirdtrajectories 2201, 2202, and 2203. In some embodiments, the targettrajectory 2210 included in sparse map 1900 may be an aggregation (e.g.,a weighted combination) of two or more reconstructed trajectories.

FIGS. 22B and 22C further illustrate the concept of target trajectoriesassociated with road segments present within a geographic region 2211.As shown in FIG. 22B, a first road segment 2220 within geographic region2211 may include a multilane road, which includes two lanes 2222designated for vehicle travel in a first direction and two additionallanes 2224 designated for vehicle travel in a second direction oppositeto the first direction. Lanes 2222 and lanes 2224 may be separated by adouble yellow line 2223. Geographic region 2211 may also include abranching road segment 2230 that intersects with road segment 2220. Roadsegment 2230 may include a two-lane road, each lane being designated fora different direction of travel. Geographic region 2211 may also includeother road features, such as a stop line 2232, a stop sign 2234, a speedlimit sign 2236, and a hazard sign 2238.

As shown in FIG. 22C, sparse map 1900 may include a local map 2240including a road model for assisting with autonomous navigation ofvehicles within geographic region 2211. For example, local map 2240 mayinclude target trajectories for one or more lanes associated with roadsegments 2220 and/or 2230 within geographic region 2211. For example,local map 2240 may include target trajectories 2241 and/or 2242 that anautonomous vehicle may access or rely upon when traversing lanes 2222.Similarly, local map 2240 may include target trajectories 2243 and/or2244 that an autonomous vehicle may access or rely upon when traversinglanes 2224. Further, local map 2240 may include target trajectories 2245and/or 2246 that an autonomous vehicle may access or rely upon whentraversing road segment 2230. Target trajectory 2247 represents apreferred path an autonomous vehicle should follow when transitioningfrom lanes 2220 (and specifically, relative to target trajectory 2241associated with a right-most lane of lanes 2220) to road segment 2230(and specifically, relative to a target trajectory 2245 associated witha first side of road segment 2230. Similarly, target trajectory 2248represents a preferred path an autonomous vehicle should follow whentransitioning from road segment 2230 (and specifically, relative totarget trajectory 2246) to a portion of road segment 2240 (andspecifically, as shown, relative to a target trajectory 2243 associatedwith a left lane of lanes 2224).

Sparse map 1900 may also include representations of other road-relatedfeatures associated with geographic region 2211. For example, sparse map1900 may also include representations of one or more landmarksidentified in geographic region 2211. Such landmarks may include a firstlandmark 2250 associated with stop line 2232, a second landmark 2252associated with stop sign 2234, a third landmark associated with speedlimit sign 2254, and a fourth landmark 2256 associated with hazard sign2238. Such landmarks may be used, for example, to assist an autonomousvehicle in determining its current location relative to any of the showntarget trajectories, such that the vehicle may adjust its heading tomatch a direction of the target trajectory at the determined location.

In some embodiments, sparse map 1900 may also include road signatureprofiles. Such road signature profiles may be associated with anydiscernible/measurable variation in at least one parameter associatedwith a road. For example, in some cases, such profiles may be associatedwith variations in surface roughness of a particular road segment,variations in road width over a particular road segment, variations indistances between dashed lines painted along a particular road segment,variations in road curvature along a particular road segment, etc. FIG.22D shows an example of a road signature profile 2260. While profile2260 may represent any of the parameters mentioned above, or others, inone example, profile 2260 may represent a measure of road surfaceroughness, as obtained, for example, by monitoring one or more sensorsproviding outputs indicative of an amount of suspension displacement asa vehicle travels a particular road segment. Alternatively, profile 2260may represent variation in road width, as determined based on image dataobtained via a camera onboard a vehicle traveling a particular roadsegment. Such profiles may be useful, for example, in determining aparticular location of an autonomous vehicle relative to a particulartarget trajectory. That is, as it traverses a road segment, anautonomous vehicle may measure a profile associated with one or moreparameters associated with the road segment. If the measured profile canbe correlated/matched with a predetermined profile that plots theparameter variation with respect to position along the road segment,then the measured and predetermined profiles may be used (e.g., byoverlaying corresponding sections of the measured and predeterminedprofiles) in order to determine a current position along the roadsegment and, therefore, a current position relative to a targettrajectory for the road segment.

In some embodiments, sparse map 1900 may include different trajectoriesbased on different characteristics associated with a user of autonomousvehicles, environmental conditions, and/or other parameters relating todriving. For example, in some embodiments, different trajectories may begenerated based on different user preferences and/or profiles. Sparsemap 1900 including such different trajectories may be provided todifferent autonomous vehicles of different users. For example, someusers may prefer to avoid toll roads, while others may prefer to takethe shortest or fastest routes, regardless of whether there is a tollroad on the route. The disclosed systems may generate different sparsemaps with different trajectories based on such different userpreferences or profiles. As another example, some users may prefer totravel in a fast moving lane, while others may prefer to maintain aposition in the central lane at all times.

Different trajectories may be generated and included in sparse map 1900based on different environmental conditions, such as day and night,snow, rain, fog, etc. Autonomous vehicles driving under differentenvironmental conditions may be provided with sparse map 1900 generatedbased on such different environmental conditions. In some embodiments,cameras provided on autonomous vehicles may detect the environmentalconditions, and may provide such information back to a server thatgenerates and provides sparse maps. For example, the server may generateor update an already generated sparse map 1900 to include trajectoriesthat may be more suitable or safer for autonomous driving under thedetected environmental conditions. The update of sparse map 1900 basedon environmental conditions may be performed dynamically as theautonomous vehicles are traveling along roads.

Other different parameters relating to driving may also be used as abasis for generating and providing different sparse maps to differentautonomous vehicles. For example, when an autonomous vehicle istraveling at a high speed, turns may be tighter. Trajectories associatedwith specific lanes, rather than roads, may be included in sparse map1900 such that the autonomous vehicle may maintain within a specificlane as it follows a specific trajectory. When an image captured by acamera onboard the autonomous vehicle indicates that the vehicle hasdrifted outside of the lane (e.g., crossed the lane mark), an action maybe triggered within the vehicle to bring the vehicle back to thedesignated lane according to the specific trajectory.

Crowd Sourcing Data for Autonomous Vehicle Navigation

In some embodiments, the disclosed systems and methods may construct aroad model for autonomous vehicle navigation. For example, disclosedsystems and methods may use crowd sourced data for generation of anautonomous vehicle road model that one or more autonomous vehicles mayuse to navigate along a system of roads. By crowd sourcing, it meansthat data are received from various vehicles (e.g., autonomous vehicles)travelling on a road segment at different times and such data are usedto generate and/or update the road model. The model may, in turn, betransmitted to the vehicles or other vehicles later travelling along theroad segment for assisting autonomous vehicle navigation. The road modelmay include a plurality of target trajectories representing preferredtrajectories that autonomous vehicles should follow as they traverse aroad segment. The target trajectories may be the same as a reconstructedactual trajectory collected from a vehicle traversing a road segment,which may be transmitted from the vehicle to a server. In someembodiments, the target trajectories may be different from actualtrajectories that one or more vehicles previously took when traversing aroad segment. The target trajectories may be generated based on actualtrajectories (e.g., through averaging or any other suitable operation).

The vehicle trajectory data that a vehicle may upload to a server maycorrespond with the actual reconstructed trajectory for the vehicle, orit may correspond to a recommended trajectory, which may be based on orrelated to the actual reconstructed trajectory of the vehicle, but maydiffer from the actual reconstructed trajectory. For example, vehiclesmay modify their actual, reconstructed trajectories and submit (e.g.,recommend) to the server the modified actual trajectories. The roadmodel may use the recommended, modified trajectories as targettrajectories for autonomous navigation of other vehicles.

In addition to trajectory information, other information for potentialuse in building a sparse data map 1900 may include information relatingto potential landmark candidates. For example, through crowd sourcing ofinformation, the disclosed systems and methods may identify potentiallandmarks in an environment and refine landmark positions. The landmarksmay be used by a navigation system of autonomous vehicles to determineand/or adjust the position of the vehicle along the target trajectories.

The reconstructed trajectories that a vehicle may generate as it travelsalong a road may be obtained by any suitable method. In someembodiments, the reconstructed trajectories may be developed bystitching together segments of motion for the vehicle, using, e.g., egomotion estimation (e.g., three dimensional translation and threedimensional rotation of the camera, and hence the body of the vehicle).The rotation and translation estimation may be determined based onanalysis of images captured by one or more image capture devices alongwith information from other sensors or devices, such as inertial sensorsand speed sensors. For example, the inertial sensors may include anaccelerometer or other suitable sensors configured to measure changes intranslation and/or rotation of the vehicle body. The vehicle may includea speed sensor that measures a speed of the vehicle.

In some embodiments, the ego motion of the camera (and hence the vehiclebody) may be estimated based on an optical flow analysis of the capturedimages. An optical flow analysis of a sequence of images identifiesmovement of pixels from the sequence of images, and based on theidentified movement, determines motions of the vehicle. The ego motionmay be integrated over time and along the road segment to reconstruct atrajectory associated with the road segment that the vehicle hasfollowed.

Data (e.g., reconstructed trajectories) collected by multiple vehiclesin multiple drives along a road segment at different times may be usedto construct the road model (e.g., including the target trajectories,etc.) included in sparse data map 1900. Data collected by multiplevehicles in multiple drives along a road segment at different times mayalso be averaged to increase an accuracy of the model. In someembodiments, data regarding the road geometry and/or landmarks may bereceived from multiple vehicles that travel through the common roadsegment at different times. Such data received from different vehiclesmay be combined to generate the road model and/or to update the roadmodel.

The disclosed systems and methods may enable autonomous vehiclenavigation (e.g., steering control) with low footprint models, which maybe collected by the autonomous vehicles themselves without the aid ofexpensive surveying equipment. To support the autonomous navigation(e.g., steering applications), the road model may include the geometryof the road, its lane structure, and landmarks that may be used todetermine the location or position of vehicles along a trajectoryincluded in the model. Generation of the road model may be performed bya remote server that communicates with vehicles travelling on the roadand that receives data from the vehicles. The data may include senseddata, trajectories reconstructed based on the sensed data, and/orrecommended trajectories that may represent modified reconstructedtrajectories. The server may transmit the model back to the vehicles orother vehicles that later travel on the road to aid in autonomousnavigation.

The geometry of a reconstructed trajectory (and also a targettrajectory) along a road segment may be represented by a curve in threedimensional space, which may be a spline connecting three dimensionalpolynomials. The reconstructed trajectory curve may be determined fromanalysis of a video stream or a plurality of images captured by a camerainstalled on the vehicle. In some embodiments, a location is identifiedin each frame or image that is a few meters ahead of the currentposition of the vehicle. This location is where the vehicle is expectedto travel to in a predetermined time period. This operation may berepeated frame by frame, and at the same time, the vehicle may computethe camera's ego motion (rotation and translation). At each frame orimage, a short range model for the desired path is generated by thevehicle in a reference frame that is attached to the camera. The shortrange models may be stitched together to obtain a three dimensionalmodel of the road in some coordinate frame, which may be an arbitrary orpredetermined coordinate frame. The three dimensional model of the roadmay then be fitted by a spline, which may include or connect one or morepolynomials of suitable orders.

To conclude the short range road model at each frame, one or moredetection modules may be used. For example, a bottom-up lane detectionmodule may be used. The bottom-up lane detection module may be usefulwhen lane marks are drawn on the road. This module may look for edges inthe image and assembles them together to form the lane marks. A secondmodule may be used together with the bottom-up lane detection module.The second module is an end-to-end deep neural network, which may betrained to predict the correct short range path from an input image. Inboth modules, the road model may be detected in the image coordinateframe and transformed to a three dimensional space that may be virtuallyattached to the camera.

Although the reconstructed trajectory modeling method may introduce anaccumulation of errors due to the integration of ego motion over a longperiod of time, which may include a noise component, such errors may beinconsequential as the generated model may provide sufficient accuracyfor navigation over a local scale. In addition, it is possible to cancelthe integrated error by using external sources of information, such assatellite images or geodetic measurements. For example, the disclosedsystems and methods may use a GNSS receiver to cancel accumulatederrors. However, the GNSS positioning signals may not be alwaysavailable and accurate. The disclosed systems and methods may enable asteering application that depends weakly on the availability andaccuracy of GNSS positioning. In such systems, the usage of the GNSSsignals may be limited. For example, in some embodiments, the disclosedsystems may use the GNSS signals for database indexing purposes only.

In some embodiments, the range scale (e.g., local scale) that may berelevant for an autonomous vehicle navigation steering application maybe on the order of 50 meters, 100 meters, 200 meters, 300 meters, etc.Such distances may be used, as the geometrical road model is mainly usedfor two purposes: planning the trajectory ahead and localizing thevehicle on the road model. In some embodiments, the planning task mayuse the model over a typical range of meters ahead (or any othersuitable distance ahead, such as 20 meters, 30 meters, 50 meters), whenthe control algorithm steers the vehicle according to a target pointlocated 1.3 seconds ahead (or any other time such as 1.5 seconds, 1.7seconds, 2 seconds, etc.). The localization task uses the road modelover a typical range of 60 meters behind the car (or any other suitabledistances, such as 50 meters, 100 meters, 150 meters, etc.), accordingto a method called “tail alignment” described in more detail in anothersection. The disclosed systems and methods may generate a geometricalmodel that has sufficient accuracy over particular range, such as 100meters, such that a planned trajectory will not deviate by more than,for example, 30 cm from the lane center.

As explained above, a three dimensional road model may be constructedfrom detecting short range sections and stitching them together. Thestitching may be enabled by computing a six degree ego motion model,using the videos and/or images captured by the camera, data from theinertial sensors that reflect the motions of the vehicle, and the hostvehicle velocity signal. The accumulated error may be small enough oversome local range scale, such as of the order of 100 meters. All this maybe completed in a single drive over a particular road segment.

In some embodiments, multiple drives may be used to average the resultedmodel, and to increase its accuracy further. The same car may travel thesame route multiple times, or multiple cars may send their collectedmodel data to a central server. In any case, a matching procedure may beperformed to identify overlapping models and to enable averaging inorder to generate target trajectories. The constructed model (e.g.,including the target trajectories) may be used for steering once aconvergence criterion is met. Subsequent drives may be used for furthermodel improvements and in order to accommodate infrastructure changes.

Sharing of driving experience (such as sensed data) between multiplecars becomes feasible if they are connected to a central server. Eachvehicle client may store a partial copy of a universal road model, whichmay be relevant for its current position. A bidirectional updateprocedure between the vehicles and the server may be performed by thevehicles and the server. The small footprint concept discussed aboveenables the disclosed systems and methods to perform the bidirectionalupdates using a very small bandwidth.

Information relating to potential landmarks may also be determined andforwarded to a central server. For example, the disclosed systems andmethods may determine one or more physical properties of a potentiallandmark based on one or more images that include the landmark. Thephysical properties may include a physical size (e.g., height, width) ofthe landmark, a distance from a vehicle to a landmark, a distancebetween the landmark to a previous landmark, the lateral position of thelandmark (e.g., the position of the landmark relative to the lane oftravel), the GPS coordinates of the landmark, a type of landmark,identification of text on the landmark, etc. For example, a vehicle mayanalyze one or more images captured by a camera to detect a potentiallandmark, such as a speed limit sign. The vehicle may determine adistance from the vehicle to the landmark based on the analysis of theone or more images. In some embodiments, the distance may be determinedbased on analysis of images of the landmark using a suitable imageanalysis method, such as a scaling method and/or an optical flow method.In some embodiments, the disclosed systems and methods may be configuredto determine a type or classification of a potential landmark. In casethe vehicle determines that a certain potential landmark corresponds toa predetermined type or classification stored in a sparse map, it may besufficient for the vehicle to communicate to the server an indication ofthe type or classification of the landmark, along with its location. Theserver may store such indications. At a later time, other vehicles maycapture an image of the landmark, process the image (e.g., using aclassifier), and compare the result from processing the image to theindication stored in the server with regard to the type of landmark.There may be various types of landmarks, and different types oflandmarks may be associated with different types of data to be uploadedto and stored in the server, different processing onboard the vehiclemay detects the landmark and communicate information about the landmarkto the server, and the system onboard the vehicle may receive thelandmark data from the server and use the landmark data for identifyinga landmark in autonomous navigation.

In some embodiments, multiple autonomous vehicles travelling on a roadsegment may communicate with a server. The vehicles (or clients) maygenerate a curve describing its drive (e.g., through ego motionintegration) in an arbitrary coordinate frame. The vehicles may detectlandmarks and locate them in the same frame. The vehicles may upload thecurve and the landmarks to the server. The server may collect data fromvehicles over multiple drives, and generate a unified road model. Theserver may distribute the model to clients (e.g., vehicles). The servermay continuously or periodically update the model when receiving newdata from the vehicles. For example, the server may process the new datato evaluate whether it includes information that should trigger anupdated, or creation of new data on the server. The server maydistribute the updated model or the updates to the vehicles forproviding autonomous vehicle navigation.

The server may use one or more criteria for determining whether new datareceived from the vehicles should trigger an update to the model ortrigger creation of new data. For example, when the new data indicatesthat a previously recognized landmark at a specific location no longerexists, or is replaced by another landmark, the server may determinethat the new data should trigger an update to the model. As anotherexample, when the new data indicates that a road segment has beenclosed, and when this has been corroborated by data received from othervehicles, the server may determine that the new data should trigger anupdate to the model.

The server may distribute the updated model (or the updated portion ofthe model) to one or more vehicles that are traveling on the roadsegment, with which the updates to the model are associated. The servermay also distribute the updated model to vehicles that are about totravel on the road segment, or vehicles whose planned trip includes theroad segment, with which the updates to the model are associated. Forexample, while an autonomous vehicle is traveling along another roadsegment before reaching the road segment with which an update isassociated, the server may distribute the updates or updated model tothe autonomous vehicle before it reaches the road segment.

In some embodiments, the remote server may collect trajectories andlandmarks from multiple clients (e.g., vehicles that travel along acommon road segment). The server may match curves using landmarks andcreate an average road model based on the trajectories collected fromthe multiple vehicles. The server may also compute a graph of roads andthe most probable path at each node or conjunction of the road segment.

The server may average landmark properties received from multiplevehicles that travelled along the common road segment, such as thedistances between one landmark to another (e.g., a previous one alongthe road segment) as measured by multiple vehicles, to determine anarc-length parameter and support localization along the path and speedcalibration for each client vehicle. The server may average the physicaldimensions of a landmark measured by multiple vehicles travelled alongthe common road segment and recognized the same landmark. The averagedphysical dimensions may be used to support distance estimation, such asthe distance from the vehicle to the landmark. The server may averagelateral positions of a landmark (e.g., position from the lane in whichvehicles are travelling in to the landmark) measured by multiplevehicles travelled along the common road segment and recognized the samelandmark. The averaged lateral potion may be used to support laneassignment. The server may average the GPS coordinates of the landmarkmeasured by multiple vehicles travelled along the same road segment andrecognized the same landmark. The averaged GPS coordinates of thelandmark may be used to support global localization or positioning ofthe landmark in the road model.

In some embodiments, the server may identify model changes, such asconstructions, detours, new signs, removal of signs, etc., based on datareceived from the vehicles. The server may continuously or periodicallyor instantaneously update the model upon receiving new data from thevehicles. The server may distribute updates to the model or the updatedmodel to vehicles for providing autonomous navigation.

In some embodiments, the server may analyze driver interventions duringthe autonomous driving. The server may analyze data received from thevehicle at the time and location where intervention occurs, and/or datareceived prior to the time the intervention occurred. The server mayidentify certain portions of the data that caused or are closely relatedto the intervention, for example, data indicating a temporary laneclosure setup, data indicating a pedestrian in the road. The server mayupdate the model based on the identified data. For example, the servermay modify one or more trajectories stored in the model.

Consistent with disclosed embodiments, the system can store informationobtained during autonomous navigation (or regular driver-controllednavigation) for use in later traversals along the same road. The systemmay share that information with other vehicles when they navigate alongthe road. Each client system may then further refine the crowd sourceddata based on observed local conditions.

FIG. 23 is a schematic illustration of a system that uses crowd sourcingdata for autonomous vehicle navigation. FIG. 23 shows a road segment2300 that includes one or more lanes. A plurality of vehicles 2305,2310, 2315, 2320, and 2325 may travel on road segment 2300 at the sametime or at different times (although shown as appearing on road segment2300 at the same time in FIG. 23 ). At least one of vehicles 2305-2325may be an autonomous vehicle. For simplicity of the present example, allof the vehicles 2305-2325 are presumed to be autonomous vehicles. Eachvehicle may be similar to vehicles disclosed in other embodiments (e.g.,vehicle 200), and may include components or devices included in orassociated with vehicles disclosed in other embodiments. Each vehiclemay be equipped with an image capture device or camera (e.g., imagecapture device 122 or camera 122). Each vehicle may communicate with aremote server 2330 via one or more networks (e.g., over a cellularnetwork and/or the Internet, etc.) through wireless communication paths2335, as indicated by the dashed lines. Each vehicle may transmit datato server 2330 and receive data from server 2330. For example, server2330 may collect data from multiple vehicles travelling on the roadsegment 2300 at different times, and may process the collected data togenerate an autonomous vehicle road navigation model, or an update tothe model. Server 2330 may transmit the autonomous vehicle roadnavigation model or the update to the model to the vehicles thattransmitted data to server 2330. Server 2330 may transmit the autonomousvehicle road navigation model or the update to the model to othervehicles that travel on road segment 2300 at later times.

As vehicles 2305-2325 travel on road segment 2300, navigationinformation collected (e.g., detected, sensed, or measured) by vehicles2305-2325 may be transmitted to server 2330. In some embodiments, thenavigation information may be associated with the common road segment2300. The navigation information may include a trajectory associatedwith each of the vehicles 2305-2325 as each vehicle travels over roadsegment 2300. In some embodiments, the trajectory may be reconstructedbased on data sensed by various sensors and devices provided on vehicle2305. For example, the trajectory may be reconstructed based on at leastone of accelerometer data, speed data, landmarks data, road geometry orprofile data, vehicle positioning data, and ego motion data. In someembodiments, the trajectory may be reconstructed based on data frominertial sensors, such as accelerometer, and the velocity of vehicle2305 sensed by a speed sensor. In addition, in some embodiments, thetrajectory may be determined (e.g., by a processor onboard each ofvehicles 2305-2325) based on sensed ego motion of the camera, which mayindicate three dimensional translation and/or three dimensionalrotations (or rotational motions). The ego motion of the camera (andhence the vehicle body) may be determined from analysis of one or moreimages captured by the camera.

In some embodiments, the trajectory of vehicle 2305 may be determined bya processor provided aboard vehicle 2305 and transmitted to server 2330.In other embodiments, server 2330 may receive data sensed by the varioussensors and devices provided in vehicle 2305, and determine thetrajectory based on the data received from vehicle 2305.

In some embodiments, the navigation information transmitted fromvehicles 2305-2325 to server 2330 may include data regarding the roadgeometry or profile. The geometry of road segment 2300 may include lanestructure and/or landmarks. The lane structure may include the totalnumber of lanes of road segment 2300, the type of lanes (e.g., one-waylane, two-way lane, driving lane, passing lane, etc.), markings onlanes, width of lanes, etc. In some embodiments, the navigationinformation may include a lane assignment, e.g., which lane of aplurality of lanes a vehicle is traveling in. For example, the laneassignment may be associated with a numerical value “3” indicating thatthe vehicle is traveling on the third lane from the left or right. Asanother example, the lane assignment may be associated with a text value“center lane” indicating the vehicle is traveling on the center lane.

Server 2330 may store the navigation information on a non-transitorycomputer-readable medium, such as a hard drive, a compact disc, a tape,a memory, etc. Server 2330 may generate (e.g., through a processorincluded in server 2330) at least a portion of an autonomous vehicleroad navigation model for the common road segment 2300 based on thenavigation information received from the plurality of vehicles2305-2325. Server 2330 may determine a trajectory associated with eachlane based on crowd sourced data (e.g., navigation information) receivedfrom multiple vehicles (e.g., 2305-2325) that travel on a lane of roadsegment at different times. Server 2330 may generate the autonomousvehicle road navigation model or a portion of the model (e.g., anupdated portion) based on a plurality of trajectories determined basedon the crowd sourced navigation data. Server 2330 may transmit the modelor the updated portion of the model to one or more of autonomousvehicles 2305-2325 traveling on road segment 2300 or any otherautonomous vehicles that travel on road segment at a later time forupdating an existing autonomous vehicle road navigation model providedin a navigation system of the vehicles. The autonomous vehicle roadnavigation model may be used by the autonomous vehicles in autonomouslynavigating along the common road segment 2300.

In some embodiments, the autonomous vehicle road navigation model may beincluded in a sparse map (e.g., sparse map 1900 depicted in FIG. 19 ).Sparse map 1900 may include sparse recording of data related to roadgeometry and/or landmarks along a road, which may provide sufficientinformation for guiding autonomous navigation of an autonomous vehicle,yet does not require excessive data storage. In some embodiments, theautonomous vehicle road navigation model may be stored separately fromsparse map 1900, and may use map data from sparse map 1900 when themodel is executed for navigation. In some embodiments, the autonomousvehicle road navigation model may use map data included in sparse map1900 for determining target trajectories along road segment 2300 forguiding autonomous navigation of autonomous vehicles 2305-2325 or othervehicles that later travel along road segment 2300. For example, whenthe autonomous vehicle road navigation model is executed by a processorincluded in a navigation system of vehicle 2305, the model may cause theprocessor to compare the trajectories determined based on the navigationinformation received from vehicle 2305 with predetermined trajectoriesincluded in sparse map 1900 to validate and/or correct the currenttraveling course of vehicle 2305.

In the autonomous vehicle road navigation model, the geometry of a roadfeature or target trajectory may be encoded by a curve in athree-dimensional space. In one embodiment, the curve may be a threedimensional spline including one or more connecting three dimensionalpolynomials. As one of skill in the art would understand, a spline maybe a numerical function that is piece-wise defined by a series ofpolynomials for fitting data. A spline for fitting the three dimensionalgeometry data of the road may include a linear spline (first order), aquadratic spline (second order), a cubic spline (third order), or anyother splines (other orders), or a combination thereof. The spline mayinclude one or more three dimensional polynomials of different ordersconnecting (e.g., fitting) data points of the three dimensional geometrydata of the road. In some embodiments, the autonomous vehicle roadnavigation model may include a three dimensional spline corresponding toa target trajectory along a common road segment (e.g., road segment2300) or a lane of the road segment 2300.

The autonomous vehicle road navigation model may include otherinformation, such as identification of at least one landmark along roadsegment 2300. The landmark may be visible within a field of view of acamera (e.g., camera 122) installed on each of vehicles 2305-2325. Insome embodiments, camera 122 may capture an image of a landmark. Aprocessor (e.g., processor 180, 190, or processing unit 110) provided onvehicle 2305 may process the image of the landmark to extractidentification information for the landmark. The landmark identificationinformation, rather than an actual image of the landmark, may be storedin sparse map 1900. The landmark identification information may requiremuch less storage space than an actual image. Other sensors or systems(e.g., GPS system) may also provide certain identification informationof the landmark (e.g., position of landmark). The landmark may includeat least one of a traffic sign, an arrow marking, a lane marking, adashed lane marking, a traffic light, a stop line, a directional sign(e.g., a highway exit sign with an arrow indicating a direction, ahighway sign with arrows pointing to different directions or places), alandmark beacon, or a lamppost. A landmark beacon refers to a device(e.g., an RFID device) installed along a road segment that transmits orreflects a signal to a receiver installed on a vehicle, such that whenthe vehicle passes by the device, the beacon received by the vehicle andthe location of the device (e.g., determined from GPS location of thedevice) may be used as a landmark to be included in the autonomousvehicle road navigation model and/or the sparse map 1900.

The identification of at least one landmark may include a position ofthe at least one landmark. The position of the landmark may bedetermined based on position measurements performed using sensor systems(e.g., Global Positioning Systems, inertial based positioning systems,landmark beacon, etc.) associated with the plurality of vehicles2305-2325. In some embodiments, the position of the landmark may bedetermined by averaging the position measurements detected, collected,or received by sensor systems on different vehicles 1205-1225 throughmultiple drives. For example, vehicles 2305-2325 may transmit positionmeasurements data to server 2330, which may average the positionmeasurements and use the averaged position measurement as the positionof the landmark. The position of the landmark may be continuouslyrefined by measurements received from vehicles in subsequent drives.

The identification of the landmark may include a size of the landmark.The processor provided on a vehicle (e.g., 2305) may estimate thephysical size of the landmark based on the analysis of the images.Server 2330 may receive multiple estimates of the physical size of thesame landmark from different vehicles over different drives. Server 2330may average the different estimates to arrive at a physical size for thelandmark, and store that landmark size in the road model. The physicalsize estimate may be used to further determine or estimate a distancefrom the vehicle to the landmark. The distance to the landmark may beestimated based on the current speed of the vehicle and a scale ofexpansion based on the position of the landmark appearing in the imagesrelative to the focus of expansion of the camera. For example, thedistance to landmark may be estimated by Z=V*dt*R/D, where V is thespeed of vehicle, R is the distance in the image from the landmark attime t1 to the focus of expansion, and D is the change in distance forthe landmark in the image from t1 to t2. dt represents the (t2−t1). Forexample, the distance to landmark may be estimated by Z=V*dt*R/D, whereV is the speed of vehicle, R is the distance in the image between thelandmark and the focus of expansion, dt is a time interval, and D is theimage displacement of the landmark along the epipolar line. Otherequations equivalent to the above equation, such as Z=V*ω/Δω, may beused for estimating the distance to the landmark. Here, V is the vehiclespeed, ω is an image length (like the object width), and Δw is thechange of that image length in a unit of time. When the physical size ofthe landmark is known, the distance to the landmark may also bedetermined based on the following equation: Z=f*W/ω, where f is thefocal length, W is the size of the landmark (e.g., height or width), wis the number of pixels when the landmark leaves the image. From theabove equation, a change in distance Z may be calculated usingΔZ=f*W*Δω/ω²+f*ΔW/ω, where ΔW decays to zero by averaging, and where Δωis the number of pixels representing a bounding box accuracy in theimage. A value estimating the physical size of the landmark may becalculated by averaging multiple observations at the server side. Theresulting error in distance estimation may be very small. There are twosources of error that may occur when using the formula above, namely ΔWand Δω. Their contribution to the distance error is given byΔZ=f*W*Δω/ω²+f*ΔW/ω. However, ΔW decays to zero by averaging; hence ΔZis determined by Δω (e.g., the inaccuracy of the bounding box in theimage).

For landmarks of unknown dimensions, the distance to the landmark may beestimated by tracking feature points on the landmark between successiveframes. For example, certain features appearing on a speed limit signmay be tracked between two or more image frames. Based on these trackedfeatures, a distance distribution per feature point may be generated.The distance estimate may be extracted from the distance distribution.For example, the most frequent distance appearing in the distancedistribution may be used as the distance estimate. As another example,the average of the distance distribution may be used as the distanceestimate.

FIG. 24 illustrates an example autonomous vehicle road navigation modelrepresented by a plurality of three dimensional splines 2401, 2402, and2403. The curves 2401-2403 shown in FIG. 24 are for illustration purposeonly. Each spline may include one or more three dimensional polynomialsconnecting a plurality of data points 2410. Each polynomial may be afirst order polynomial, a second order polynomial, a third orderpolynomial, or a combination of any suitable polynomials havingdifferent orders. Each data point 2410 may be associated with thenavigation information received from vehicles 2405-2425. In someembodiments, each data point 2410 may be associated with data related tolandmarks (e.g., size, location, and identification information oflandmarks) and/or road signature profiles (e.g., road geometry, roadroughness profile, road curvature profile, road width profile). In someembodiments, some data points 2410 may be associated with data relatedto landmarks, and others may be associated with data related to roadsignature profiles.

FIG. 25 illustrates a block diagram of server 2330. Server 2330 mayinclude a communication unit 2505, which may include both hardwarecomponents (e.g., communication control circuits, switches, andantenna), and software components (e.g., communication protocols,computer codes). Server 2330 may communicate with vehicles 2305-2325through communication unit 2505. For example, server 2330 may receive,through communication unit 2505, navigation information transmitted fromvehicles 2305-2325. Server 2330 may distribute, through communicationunit 2505, the autonomous vehicle road navigation model to one or moreautonomous vehicles.

Server 2330 may include one or more storage devices 2510, such as a harddrive, a compact disc, a tape, etc. Storage device 2510 may beconfigured to store data, such as navigation information received fromvehicles 2305-2325 and/or the autonomous vehicle road navigation modelthat server 2330 generates based on the navigation information. Storagedevice 2510 may be configured to store any other information, such as asparse map (e.g., sparse map 1900 discussed in connection with FIG. 19).

In addition to or in place of storage device 2510, server 2330 mayinclude a memory 2515. Memory 2515 may be similar to or different frommemory 140 or 150. Memory 2515 may be a non-transitory memory, such as aflash memory, a random access memory, etc. Memory 2515 may be configuredto store data, such as computer codes or instructions executable by aprocessor (e.g., processor 2520), map data (e.g., data of sparse map1900), the autonomous vehicle road navigation model, and/or navigationinformation received from vehicles 2305-2325.

Server 2330 may include a processor 2520 configured to execute computercodes or instructions stored in memory 2515 to perform variousfunctions. For example, processor 2520 may analyze the navigationinformation received from vehicles 2305-2325, and generate theautonomous vehicle road navigation model based on the analysis.Processor 2520 may control communication unit 2505 to distribute theautonomous vehicle road navigation model to one or more autonomousvehicles (e.g., one or more of vehicles 2305-2325 or any vehicle thattravels on road segment 2300 at a later time). Processor 2520 may besimilar to or different from processor 180, 190, or processing unit 110.

FIG. 26 illustrates a block diagram of memory 2515, which may storecomputer codes or instructions for performing one or more operations forprocessing vehicle navigation information for use in autonomous vehiclenavigation. As shown in FIG. 26 , memory 2515 may store one or moremodules for performing the operations for processing vehicle navigationinformation. For example, memory 2515 may include a model generatingmodule 2605 and a model distributing module 2610. Processor 2520 mayexecute the instructions stored in any of modules 2605 and 2610 includedin memory 2515.

Model generating module 2605 may store instructions which, when executedby processor 2520, may generate at least a portion of an autonomousvehicle road navigation model for a common road segment (e.g., roadsegment 2300) based on navigation information received from vehicles2305-2425. For example, in generating the autonomous vehicle roadnavigation model, processor 2520 may cluster vehicle trajectories alongthe common road segment 2300 into different clusters. Processor 2520 maydetermine a target trajectory along the common road segment 2300 basedon the clustered vehicle trajectories for each of the differentclusters. Such an operation may include finding a mean or averagetrajectory of the clustered vehicle trajectories (e.g., by averagingdata representing the clustered vehicle trajectories) in each cluster.In some embodiments, the target trajectory may be associated with asingle lane of the common road segment 2300. The autonomous vehicle roadnavigation model may include a plurality of target trajectories eachassociated with a separate lane of the common road segment 2300. In someembodiments, the target trajectory may be associated with the commonroad segment 2300 instead of a single lane of the road segment 2300. Thetarget trajectory may be represented by a three dimensional spline. Insome embodiments, the spline may be defined by less than 10 kilobytesper kilometer, less than 20 kilobytes per kilometer, less than 100kilobytes per kilometer, less than 1 megabyte per kilometer, or anyother suitable storage size per kilometer.

The road model and/or sparse map may store trajectories associated witha road segment. These trajectories may be referred to as targettrajectories, which are provided to autonomous vehicles for autonomousnavigation. The target trajectories may be received from multiplevehicles, or may be generated based on actual trajectories orrecommended trajectories (actual trajectories with some modifications)received from multiple vehicles. The target trajectories included in theroad model or sparse map may be continuously updated (e.g., averaged)with new trajectories received from other vehicles.

Vehicles travelling on a road segment may collect data by varioussensors. The data may include landmarks, road signature profile, vehiclemotion (e.g., accelerometer data, speed data), vehicle position (e.g.,GPS data), and may either reconstruct the actual trajectoriesthemselves, or transmit the data to a server, which will reconstruct theactual trajectories for the vehicles. In some embodiments, the vehiclesmay transmit data relating to a trajectory (e.g., a curve in anarbitrary reference frame), landmarks data, and lane assignment alongtraveling path to server 2330. Various vehicles travelling along thesame road segment at multiple drives may have different trajectories.Server 2330 may identify routes or trajectories associated with eachlane from the trajectories received from vehicles through a clusteringprocess.

FIG. 27 illustrates a process of clustering vehicle trajectoriesassociated with vehicles 2305-2325 for determining a target trajectoryfor the common road segment (e.g., road segment 2300). The targettrajectory or a plurality of target trajectories determined from theclustering process may be included in the autonomous vehicle roadnavigation model or sparse map 1900. In some embodiments, vehicles2305-2325 traveling along road segment 2300 may transmit a plurality oftrajectories 2700 to server 2330. In some embodiments, server 2330 maygenerate trajectories based on landmark, road geometry, and vehiclemotion information received from vehicles 2305-2325. To generate theautonomous vehicle road navigation model, server 2330 may clustervehicle trajectories 2700 into a plurality of clusters 2705-2730, asshown in FIG. 27 .

Clustering may be performed using various criteria. In some embodiments,all drives in a cluster may be similar with respect to the absoluteheading along the road segment 2300. The absolute heading may beobtained from GPS signals received by vehicles 2305-2325. In someembodiments, the absolute heading may be obtained using dead reckoning.Dead reckoning, as one of skill in the art would understand, may be usedto determine the current position and hence heading of vehicles2305-2325 by using previously determined position, estimated speed, etc.Trajectories clustered by absolute heading may be useful for identifyingroutes along the roadways.

In some embodiments, all the drives in a cluster may be similar withrespect to the lane assignment (e.g., in the same lane before and aftera junction) along the drive on road segment 2300. Trajectories clusteredby lane assignment may be useful for identifying lanes along theroadways. In some embodiments, both criteria (e.g., absolute heading andlane assignment) may be used for clustering.

In each cluster 2705-2730, trajectories may be averaged to obtain atarget trajectory associated with the specific cluster. For example, thetrajectories from multiple drives associated with the same lane clustermay be averaged. The averaged trajectory may be a target trajectoryassociate with a specific lane. To average a cluster of trajectories,server 2330 may select a reference frame of an arbitrary trajectory C0.For all other trajectories (C1, . . . , Cn), server 2330 may find arigid transformation that maps Ci to C0, where i=1, 2, . . . , n, wheren is a positive integer number, corresponding to the total number oftrajectories included in the cluster. Server 2330 may compute a meancurve or trajectory in the C0 reference frame.

In some embodiments, the landmarks may define an arc length matchingbetween different drives, which may be used for alignment oftrajectories with lanes. In some embodiments, lane marks before andafter a junction may be used for alignment of trajectories with lanes.

To assemble lanes from the trajectories, server 2330 may select areference frame of an arbitrary lane. Server 2330 may map partiallyoverlapping lanes to the selected reference frame. Server 2330 maycontinue mapping until all lanes are in the same reference frame. Lanesthat are next to each other may be aligned as if they were the samelane, and later they may be shifted laterally.

Landmarks recognized along the road segment may be mapped to the commonreference frame, first at the lane level, then at the junction level.For example, the same landmarks may be recognized multiple times bymultiple vehicles in multiple drives. The data regarding the samelandmarks received in different drives may be slightly different. Suchdata may be averaged and mapped to the same reference frame, such as theC0 reference frame. Additionally or alternatively, the variance of thedata of the same landmark received in multiple drives may be calculated.

In some embodiments, each lane of a road segment 2300 may be associatedwith a target trajectory and certain landmarks. The target trajectory ora plurality of such target trajectories may be included in theautonomous vehicle road navigation model, which may be used later byother autonomous vehicles travelling along the same road segment 2300.Landmarks identified by vehicles 2305-2325 while the vehicles travelalong road segment 2300 may be recorded in association with the targettrajectory. The data of the target trajectories and landmarks may becontinuously or periodically updated with new data received from othervehicles in subsequent drives.

For localization of an autonomous vehicle, the disclosed systems andmethods may use an extended Kalman filter. The location of the vehiclemay be determined based on three dimensional position data and/or threedimensional orientation data, prediction of future location ahead ofvehicle's current location by integration of ego motion. Thelocalization of vehicle may be corrected or adjusted by imageobservations of landmarks. For example, when vehicle detects a landmarkwithin an image captured by the camera, the landmark may be compared toa known landmark stored within the road model or sparse map 1900. Theknown landmark may have a known location (e.g., GPS data) along a targettrajectory stored in the road model and/or sparse map 1900. Based on thecurrent speed and images of the landmark, the distance from the vehicleto the landmark may be estimated. The location of the vehicle along atarget trajectory may be adjusted based on the distance to the landmarkand the landmark's known location (stored in the road model or sparsemap 1900). The landmark's position/location data (e.g., mean values frommultiple drives) stored in the road model and/or sparse map 1900 may bepresumed to be accurate.

In some embodiments, the disclosed system may form a closed loopsubsystem, in which estimation of the vehicle six degrees of freedomlocation (e.g., three dimensional position data plus three dimensionalorientation data) may be used for navigating (e.g., steering the wheelof) the autonomous vehicle to reach a desired point (e.g., 1.3 secondsahead in the stored). In turn, data measured from the steering andactual navigation may be used to estimate the six degrees of freedomlocation.

In some embodiments, poles along a road, such as lampposts and power orcable line poles may be used as landmarks for localizing the vehicles.Other landmarks such as traffic signs, traffic lights, arrows on theroad, stop lines, as well as static features or signatures of an objectalong the road segment may also be used as landmarks for localizing thevehicle. When poles are used for localization, the x observation of thepoles (i.e., the viewing angle from the vehicle) may be used, ratherthan the y observation (i.e., the distance to the pole) since thebottoms of the poles may be occluded and sometimes they are not on theroad plane.

FIG. 28 illustrates a navigation system for a vehicle, which may be usedfor autonomous navigation. For illustration, the vehicle is referencedas vehicle 2305. The vehicle shown in FIG. 28 may be any other vehicledisclosed herein, including, for example, vehicles 2310, 2315, 2320, and2325, as well as vehicle 200 shown in other embodiments. As shown inFIG. 28 , vehicle 2305 may communicate with server 2330. Vehicle 2305may include an image capture device 122 (e.g., camera 122). Vehicle 2305may include a navigation system 2800 configured for providing navigationguidance for vehicle 2305 to travel on a road (e.g., road segment 2300).Vehicle 2305 may also include other sensors, such as a speed sensor 2820and an accelerometer 2825. Speed sensor 2820 may be configured to detectthe speed of vehicle 2305. Accelerometer 2825 may be configured todetect an acceleration or deceleration of vehicle 2305. Vehicle 2305shown in FIG. 28 may be an autonomous vehicle, and the navigation system2800 may be used for providing navigation guidance for autonomousdriving. Alternatively, vehicle 2305 may also be a non-autonomous,human-controlled vehicle, and navigation system 2800 may still be usedfor providing navigation guidance.

Navigation system 2800 may include a communication unit 2805 configuredto communicate with server 2330 through communication path 2335.Navigation system 2800 may include a GPS unit 2810 configured to receiveand process GPS signals. Navigation system 2800 may include at least oneprocessor 2815 configured to process data, such as GPS signals, map datafrom sparse map 1900 (which may be stored on a storage device providedonboard vehicle 2305 or received from server 2330), road geometry sensedby a road profile sensor 2830, images captured by camera 122, and/orautonomous vehicle road navigation model received from server 2330. Theroad profile sensor 2830 may include different types of devices formeasuring different types of road profile, such as road surfaceroughness, road width, road elevation, road curvature, etc. For example,the road profile sensor 2830 may include a device that measures themotion of a suspension of vehicle 2305 to derive the road roughnessprofile. In some embodiments, the road profile sensor 2830 may includeradar sensors to measure the distance from vehicle 2305 to road sides(e.g., barrier on the road sides), thereby measuring the width of theroad. In some embodiments, the road profile sensor 2830 may include adevice configured for measuring the up and down elevation of the road.In some embodiment, the road profile sensor 2830 may include a deviceconfigured to measure the road curvature. For example, a camera (e.g.,camera 122 or another camera) may be used to capture images of the roadshowing road curvatures. Vehicle 2305 may use such images to detect roadcurvatures.

The at least one processor 2815 may be programmed to receive, fromcamera 122, at least one environmental image associated with vehicle2305. The at least one processor 2815 may analyze the at least oneenvironmental image to determine navigation information related to thevehicle 2305. The navigation information may include a trajectoryrelated to the travel of vehicle 2305 along road segment 2300. The atleast one processor 2815 may determine the trajectory based on motionsof camera 122 (and hence the vehicle), such as three dimensionaltranslation and three dimensional rotational motions. In someembodiments, the at least one processor 2815 may determine thetranslation and rotational motions of camera 122 based on analysis of aplurality of images acquired by camera 122. In some embodiments, thenavigation information may include lane assignment information (e.g., inwhich lane vehicle 2305 is travelling along road segment 2300). Thenavigation information transmitted from vehicle 2305 to server 2330 maybe used by server 2330 to generate and/or update an autonomous vehicleroad navigation model, which may be transmitted back from server 2330 tovehicle 2305 for providing autonomous navigation guidance for vehicle2305.

The at least one processor 2815 may also be programmed to transmit thenavigation information from vehicle 2305 to server 2330. In someembodiments, the navigation information may be transmitted to server2330 along with road information. The road location information mayinclude at least one of the GPS signal received by the GPS unit 2810,landmark information, road geometry, lane information, etc. The at leastone processor 2815 may receive, from server 2330, the autonomous vehicleroad navigation model or a portion of the model. The autonomous vehicleroad navigation model received from server 2330 may include at least oneupdate based on the navigation information transmitted from vehicle 2305to server 2330. The portion of the model transmitted from server 2330 tovehicle 2305 may include an updated portion of the model. The at leastone processor 2815 may cause at least one navigational maneuver (e.g.,steering such as making a turn, braking, accelerating, passing anothervehicle, etc.) by vehicle 2305 based on the received autonomous vehicleroad navigation model or the updated portion of the model.

The at least one processor 2815 may be configured to communicate withvarious sensors and components included in vehicle 2305, includingcommunication unit 2805, GPS unit 2810, camera 122, speed sensor 2820,accelerometer 2825, and road profile sensor 2830. The at least oneprocessor 2815 may collect information or data from various sensors andcomponents, and transmit the information or data to server 2330 throughcommunication unit 2805. Alternatively or additionally, various sensorsor components of vehicle 2305 may also communicate with server 2330 andtransmit data or information collected by the sensors or components toserver 2330.

In some embodiments, vehicles 2305-2325 may communicate with each other,and may share navigation information with each other, such that at leastone of the vehicles 2305-2325 may generate the autonomous vehicle roadnavigation model based on information shared by other vehicles. In someembodiments, vehicles 2305-2325 may share navigation information witheach other and each vehicle may update its own the autonomous vehicleroad navigation model provided in the vehicle. In some embodiments, atleast one of the vehicles 2305-2325 (e.g., vehicle 2305) may function asa hub vehicle. The at least one processor 2815 of the hub vehicle (e.g.,vehicle 2305) may perform some or all of the functions performed byserver 2330. For example, the at least one processor 2815 of the hubvehicle may communicate with other vehicles and receive navigationinformation from other vehicles. The at least one processor 2815 of thehub vehicle may generate the autonomous vehicle road navigation model oran update to the model based on the shared information received fromother vehicles. The at least one processor 2815 of the hub vehicle maytransmit the autonomous vehicle road navigation model or the update tothe model to other vehicles for providing autonomous navigationguidance.

FIG. 29 is a flowchart showing an example process 2900 for processingvehicle navigation information for use in autonomous vehicle navigation.Process 2900 may be performed by server 2330 or processor 2815 includedin a hub vehicle. In some embodiments, process 2900 may be used foraggregating vehicle navigation information to provide an autonomousvehicle road navigation model or to update the model. Process 2900 mayinclude receiving navigation information from a plurality of vehicles(step 2905). For example, server 2330 may receive the navigationinformation from vehicles 23205-2325. The navigation information may beassociated with a common road segment (e.g., road segment 2300) alongwhich the vehicles 2305-2325 travel. Process 2900 may include storingthe navigation information associated with the common road segment (step2910). For example, server 2330 may store the navigation information instorage device 2510 and/or memory 2515. Process 2900 may includegenerating at least a portion of an autonomous vehicle road navigationmodel based on the navigation information (step 2915). For example,server 2330 may generate at least a portion of the autonomous vehicleroad navigation model for common road segment 2300 based on thenavigation information received from vehicles 2305-2325 that travel onthe common road segment 2300. Process 2900 may further includedistributing the autonomous vehicle road navigation model to one or moreautonomous vehicles (step 2920). For example, server 2330 may distributethe autonomous vehicle road navigation model or a portion (e.g., anupdate) of the model to vehicles 2305-2325, or any other vehicles latertravel on road segment 2300 for use in autonomously navigating thevehicles along road segment 2300.

Process 2900 may include additional operations or steps. For example,generating the autonomous vehicle road navigation model may includeclustering vehicle trajectories received from vehicles 2305-2325 alongroad segment 2300 into a plurality of clusters. Process 2900 may includedetermining a target trajectory along common road segment 2300 byaveraging the clustered vehicle trajectories in each cluster. Process2900 may also include associating the target trajectory with a singlelane of common road segment 2300. Process 1900 may include determining athree dimensional spline to represent the target trajectory in theautonomous vehicle road navigation model.

FIG. 30 is a flowchart showing an example process 3000 performed by anavigation system of a vehicle. Process 3000 may be performed byprocessor 2815 included in navigation system 2800. Process 3000 mayinclude receiving, from a camera, at least one environmental imageassociated with the vehicle (step 3005). For example, processor 2815 mayreceive, from camera 122, at least one environmental image associatedwith vehicle 2305. Camera 122 may capture one or more images of theenvironment surrounding vehicle 2305 as vehicle 2305 travels along roadsegment 2300. Process 3000 may include analyzing the at least oneenvironmental image to determine navigation information related to thevehicle (step 3010). For example, processor 2815 may analyze theenvironmental images received from camera 122 to determine navigationinformation, such as a trajectory of travel along road segment 2300.Processor 2815 may determine the trajectory of travel of vehicle 2305based on camera ego motions (e.g., three dimensional translation and/orthree dimensional rotational motions) sensed by, e.g., the analysis ofthe images.

Process 3000 may include transmitting the navigation information fromthe vehicle to a server (step 3015). In some embodiments, the navigationinformation may be transmitted along with road information from thevehicle to server 2330. For example, processor 2815 may transmit, viacommunication unit 2805, the navigation information along with roadinformation, such as the lane assignment, road geometry, from vehicle2305 to server 2330. Process 3000 may include receiving from the serveran autonomous vehicle road navigation model or a portion of the model(step 3020). For example, processor 2815 may receive the autonomousvehicle road navigation model or a portion of the model from server2330. The model or the portion of the model may include at least oneupdate to the model based on the navigation information transmitted fromvehicle 2305. Processor 2815 may update an existing model provided innavigation system 2800 of vehicle 2305. Process 3000 may include causingat least one navigational maneuver by the vehicle based on theautonomous vehicle road navigation model (step 3025). For example,processor 2815 may cause vehicle 2305 to steer, make a turn, changelanes, accelerate, brake, stop, etc. Processor 2815 may send signals toat least one of throttling system 220, braking system 230, and steeringsystem 240 to cause vehicle 2305 to perform the navigational maneuver.

Process 3000 may include other operations or steps performed byprocessor 2815. For example, the navigation information may include atarget trajectory for vehicles to travel along a road segment, andprocess 3000 may include clustering, by processor 2815, vehicletrajectories related to multiple vehicles travelling on the road segmentand determining the target trajectory based on the clustered vehicletrajectories. Clustering vehicle trajectories may include clustering, byprocessor 2815, the multiple trajectories related to the vehiclestravelling on the road segment into a plurality of clusters based on atleast one of the absolute heading of vehicles or lane assignment of thevehicles. Generating the target trajectory may include averaging, byprocessor 2815, the clustered trajectories. Other processes or stepsperformed by server 2330, as described above, may also be included inprocess 3000.

The disclosed systems and methods may include other features. Forexample, the disclosed systems may use local coordinates, rather thanglobal coordinates. For autonomous driving, some systems may presentdata in world coordinates. For example, longitude and latitudecoordinates on the earth surface may be used. In order to use the mapfor steering, the host vehicle must know its position and orientationrelative to the map. It seems natural to use a GPS device on board, inorder to position the vehicle on the map and in order to find therotation transformation between the body reference frame and the worldreference frame (say, North, East and Down). Once the body referenceframe is aligned with the map reference frame, then the desired routemay be expressed in the body reference frame and the steering commandsmay be computed or generated.

However, one possible issue with this strategy is that current GPStechnology does not usually provide the body location and pose withsufficient accuracy and availability. To overcome this problem, it hasbeen proposed to use landmarks whose world coordinates are known. Theidea is to construct very detailed maps (called High Definition or HDmaps), that contain landmarks of different kinds. The assumption is thatthe vehicle is equipped with a sensor that can detect and locate thelandmarks in its own reference frame. Once the relative position betweenthe vehicle and the landmarks is found, the landmarks' world coordinatesare taken from the HD map, and the vehicle can use them to compute itsown location and pose.

This method is still using the global world coordinate system as amediator that establishes the alignment between the map and the bodyreference frames. Namely, the landmarks are used to compensate for thelimitations of the GPS device onboard the vehicles. The landmarks,together with an HD map, may enable to compute the precise vehicle posein global coordinates, and hence the map-body alignment problem issolved.

In the disclosed systems and methods, instead of using one global map ofthe world, many map pieces or local maps may be used for autonomousnavigation. Each piece of a map or each local map may define its owncoordinate frame. These coordinate frames may be arbitrary. Thevehicle's coordinates in the local maps may not need to indicate wherethe vehicle is located on the surface of earth. Moreover, the local mapsmay not be required to be accurate over large scales, meaning there maybe no rigid transformation that can embed a local map in the globalworld coordinate system.

There are two main processes associated with this representation of theworld, one relates to the generation of the maps and the other relatesto using them. With respect to maps generation, this type ofrepresentation may be created and maintained by crowd sourcing. Theremay be no need to apply sophisticated survey equipment, because the useof HD maps is limited, and hence crowd sourcing becomes feasible. Withrespect to usage, an efficient method to align the local map with thebody reference frame without going through a standard world coordinatesystem may be employed. Hence there may be no need, at least in mostscenarios and circumstances, to have a precise estimation of the vehiclelocation and pose in global coordinates. The memory footprint of thelocal maps may be kept very small.

The principle underlying the maps generation is the integration of egomotion. The vehicles sense the motion of the camera in space (3Dtranslation and 3D rotation). The vehicles or the server may reconstructthe trajectory of the vehicle by integration of ego motion over time,and this integrated path may be used as a model for the road geometry.This process may be combined with sensing of close range lane marks, andthen the reconstructed route may reflect the path that a vehicle shouldfollow, and not the particular path that it did follow. In other words,the reconstructed route or trajectory may be modified based on thesensed data relating to close range lane marks, and the modifiedreconstructed trajectory may be used as a recommended trajectory ortarget trajectory, which may be saved in the road model or sparse mapfor use by other vehicles navigating the same road segment.

In some embodiments, the map coordinate system may be arbitrary. Acamera reference frame may be selected at an arbitrary time, and used asthe map origin. The integrated trajectory of the camera may be expressedin the coordinate system of that particular chosen frame. The value ofthe route coordinates in the map may not directly represent a locationon earth.

The integrated path may accumulate errors. This may be due to the factthat the sensing of the ego motion may not be absolutely accurate. Theresult of the accumulated error is that the local map may diverge, andthe local map may not be regarded as a local copy of the global map. Thelarger the size of the local map piece, the larger the deviation fromthe “true” geometry on earth.

The arbitrariness and the divergence of the local maps may not be adesign principle but rather may be a consequence. These properties maybe a consequence of the integration method, which may be applied inorder to construct the maps in a crowd sourcing manner (by vehiclestraveling along the roads). However, vehicles may successfully use thelocal maps for steering.

The proposed map may diverge over long distances. Since the map is usedto plan a trajectory in the immediate vicinity of the vehicle, theeffect of the divergence may be acceptable. At any time instance, thesystem (e.g., server 2330 or vehicle 2305) may repeat the alignmentprocedure, and use the map to predict the road location (in the cameracoordinate frame) some 1.3 seconds ahead (or any other seconds, such as1.5 seconds, 1.0 second, 1.8 seconds, etc.). As long as the accumulatederror over that distance is small enough, then the steering commandprovided for autonomous driving may be used.

In some embodiments, a local map may focus on a local area, and may notcover a too large area. This means that a vehicle that is using a localmap for steering in autonomous driving, may arrive at some point to theend of the map and may have to switch to another local piece of map. Theswitching may be enabled by the local maps overlapping each other. Oncethe vehicle enters the area that is common to both maps, the system(e.g., server 1230 or vehicle 1205) may continue to generate steeringcommands based on a first local map (the map that is being used), but atthe same time the system may localize the vehicle on the other map (orsecond local map) that overlaps with the first local map. In otherwords, the system may simultaneously align the present coordinate frameof the camera both with the coordinate frame of the first map and withthe coordinate frame of the second map. When the new alignment isestablished, the system may switch to the other map and plan the vehicletrajectory there.

The disclosed systems may include additional features, one of which isrelated to the way the system aligns the coordinate frames of thevehicle and the map. As explained above that landmarks may be used foralignment, assuming the vehicle may measure its relative position tothem. This is useful in autonomous driving, but sometimes it may resultin a demand for a large number of landmarks and hence a large memoryfootprint. The disclosed systems may therefore use an alignmentprocedure that addresses this problem. In the alignment procedure, thesystem may compute a 1D estimator for the location of the vehicle alongthe road, using sparse landmarks and integration of ego speed. Thesystem may use the shape of the trajectory itself to compute therotation part of the alignment, using a tail alignment method discussedin details below in other sections. The idea is that the vehiclereconstructs its own trajectory while driving the “tail” and computes arotation around its assumed position along the road, in order to alignthe tail with the map.

In the disclosed systems and methods, a GPS device may still be used.Global coordinates may be used for indexing the database that stores thetrajectories and/or landmarks. The relevant piece of local map and therelevant landmarks in the vicinity of the vehicles may be be stored inmemory and retrieved from the memory using global GPS coordinates.However, in some embodiments, the global coordinates may not be used forpath planning, and may not be accurate. In one example, the usage ofglobal coordinates may be limited for indexing of the information.

In situations where “tail alignment” cannot function well, the systemmay compute the vehicle's pose using a larger number of landmarks. Thismay be a rare case, and hence the impact on the memory footprint may bemoderate. Road intersections are examples of such situations.

The disclosed systems and methods may use semantic landmarks (e.g.,traffic signs), since they can be reliably detected from the scene andmatched with the landmarks stored in the road model or sparse map. Insome cases the disclosed systems may use non-semantic landmarks (e.g.,general purpose signs) as well, and in such cases the non-semanticlandmarks may be attached to an appearance signature, as discussedabove. The system may use a learning method for the generation ofsignatures that follows the “same or not-same” recognition paradigm.

For example, given many drives with GPS coordinates along them, thedisclosed systems may produce the underlying road structure junctionsand road segments. The roads are assumed to be far enough from eachother to be able to differentiate them using the GPS. Only a coarsegrained map may be needed. To generate the underlying road structuregraph, the space may be divided into a lattice of a given resolution(e.g., 50 m by 50 m). Every drive may be seen as an ordered list oflattice sites. The system may color every lattice site belonging to adrive to produce an image of the merged drives. The colored latticepoints may be represented as nodes on the merged drives. The drivespassing from one node to another may be represented as links. The systemmay fill small holes in the image, to avoid differentiating lanes andcorrect for GPS errors. The system may use a suitable thinning algorithm(e.g., an algorithm named “Zhang-Suen” thinning algorithm) to obtain theskeleton of the image. This skeleton may represent the underlying roadstructure, and junctions may be found using a mask (e.g., a pointconnected to at least three others). After the junctions are found, thesegments may be the skeleton parts that connect them. To match thedrives back to the skeleton, the system may use a Hidden Markov Model.Every GPS point may be associated with a lattice site with a probabilityinverse to its distance from that site. Use a suitable algorithm (e.g.,an algorithm named the “Viterbi” algorithm) to match GPS points tolattice sites, while not allowing consecutive GPS points to match tonon-neighboring lattice sites.

A plurality of methods may be used for mapping the drives back to themap. For example, a first solution may include keeping track during thethinning process. A second solution may use proximity matching. A thirdsolution may use hidden Markov model. The hidden Markov model assumes anunderlying hidden state for every observation, and assigns probabilitiesfor a given observation given the state, and for a state given theprevious state. A Viterbi algorithm may be used to find the mostprobable states given a list of observations.

The disclosed systems and methods may include additional features. Forexample, the disclosed systems and methods may detect highwayentrances/exits. Multiple drives in the same area may be merged usingGPS data to the same coordinate system. The system may use visualfeature points for mapping and localization.

In some embodiments, generic visual features may be used as landmarksfor the purpose of registering the position and orientation of a movingvehicle, in one drive (localization phase), relative to a map generatedby vehicles traversing the same stretch of road in previous drives(mapping phase). These vehicles may be equipped with calibrated camerasimaging the vehicle surroundings and GPS receivers. The vehicles maycommunicate with a central server (e.g., server 1230) that maintains anup-to-date map including these visual landmarks connected to othersignificant geometric and semantic information (e.g. lane structure,type and position of road signs, type and position of road marks, shapeof nearby drivable ground area delineated by the position of physicalobstacles, shape of previously driven vehicle path when controlled byhuman driver, etc.). The total amount of data that may be communicatedbetween the central server and vehicles per length of road is small,both in the mapping and localization phases.

In the mapping phase, the disclosed systems (e.g., vehicles or server)may detect feature points (FPs) and compute their descriptors (e.g.using the FAST/BRISK/ORB detectors and descriptors or adetector/descriptor pair that was trained using the database discussedbelow). The system may track FPs between frames in which they appearusing their motion in the image plane and by matching their descriptorsusing e.g. Euclidean or Hamming distance in descriptor space. The systemmay use tracked FPs to estimate camera motion and world positions ofobjects on which FPs were detected and tracked. The system may classifyFPs as ones that will likely be detected in future drives (e.g. FPsdetected on momentarily moving objects, parked cars and shadow texturewill likely not reappear in future drives). This reproducibilityclassification (RC) may be a function of both the intensities in aregion of the image pyramid surrounding the detected FP, the motion ofthe tracked FP in the image plane, the extent of viewpoints in which itwas successfully tracked/detected and its relative 3D position. In someembodiments, the vehicles may send representative FP descriptors(computed from a set of observations), estimated 3D position relative tovehicle and momentary vehicle GPS coordinates to server 1230.

During the mapping phase, when communication bandwidth between themapping vehicles and central server is limited, the vehicles may sendFPs to the server at a high frequency when the presence of FPs or othersemantic landmarks in the map (such as road signs and lane structure) islimited and insufficient for the purpose of localization. Althoughvehicles in the mapping phase may send FPs at a low spatial frequencythese may be agglomerated in the server. Detection of reoccurring FPsmay also be performed by the server and the server may store the set ofreoccurring FPs. Visual appearance of landmarks may at least in somecases be sensitive to the time of day or the season in which they werecaptured. To increase reproducibility probability of FPs, these may bebinned by the server into time-of-day and season bins.

The vehicles may send the server other semantic and geometricinformation in the nearby FP coordinate system (lane shape, structure ofroad plane, 3D position of obstacles, free space in mapping clipmomentary coordinate system, path driven by human driver in a setupdrive to a parking location).

In a localization phase, the server may send a map containing landmarksin the form of FP positions and descriptors to vehicles. Feature points(FPs) may be detected and tracked in near real time within a set ofcurrent consecutive frames. Tracked FPs may be used to estimate cameramotion and world positions of FPs. Currently detected FP descriptors maybe searched to match a list of map FPs having GPS coordinates within anestimated finite GPS uncertainty radius from the momentary GPS reading.Matching may be done by searching all pairs of current and mapping FPsthat minimize an Euclidean or Hamming distance in descriptor space.Using the FP matches and their current and map positions, rotation andtranslation between the momentary vehicle position and the local mapcoordinate system may be registered.

The disclosed systems and methods may include a method for training areproducibility classifier. Training may be performed in one of thefollowing schemes in order of growing labeling cost and resultingclassifier accuracy.

In the first scheme, a database including a large number of clipsrecorded by vehicle cameras with matching momentary vehicle GPS positionmay be collected. This database may include a representative sample ofdrives (with respect to various properties: e.g., time of day, season,weather condition, type of roadway). Feature points (FPs) extracted fromframes of different drives at a similar GPS position and heading may bepotentially matched within a GPS uncertainty radius. Unmatched FPs maybe labeled unreproducible and those matched may be labeled reproducible.A classifier may then be trained to predict the reproducibility label ofan FP given its appearance in the image pyramid, its momentary positionrelative to the vehicle and the extent of viewpoints positions in whichit was successfully tracked.

In the second scheme, FP pairs extracted from the clip databasedescribed in the first scheme may also be labeled by a human responsiblefor annotating FP matches between clips.

In a third scheme, a database augmenting that of the first scheme withprecise vehicle position, vehicle orientation and image pixel depthusing Light Detection and Ranging (LIDAR) measurements may be used toaccurately match world positions in different drives. Feature pointdescriptors may then be computed at the image region corresponding tothese world points at different viewpoints and drive times. Theclassifier may then be trained to predict the average distance indescriptor space a descriptor is located from its matched descriptors.In this case reproducibility may be measured by likely having a lowdescriptor distance.

Navigation Based on Recognized Landmarks

Consistent with disclosed embodiments, the system may use landmarks, forexample, to determine the position of a host vehicle along a pathrepresentative of a target road model trajectory (e.g., by identifyingan intersection point of a relative direction vector to the landmarkwith the target road model trajectory). Once this position isdetermined, a steering direction can be determined by comparing aheading direction to the target road model trajectory at the determinedposition. Landmarks may include, for example, any identifiable, fixedobject in an environment of at least one road segment or any observablecharacteristic associated with a particular section of the road segment.In some cases, landmarks may include traffic signs (e.g., speed limitsigns, hazard signs, etc.). In other cases, landmarks may include roadcharacteristic profiles associated with a particular section of a roadsegment. In yet other cases, landmarks may include road profiles assensed, for example, by a suspension sensor of the vehicle. Furtherexamples of various types of landmarks are discussed in previoussections, and some landmark examples are shown in FIG. 10 .

FIG. 31 illustrates vehicle 200 (which may be an autonomous vehicle)travelling on road segment 3100 in which the disclosed systems andmethods for navigating vehicle 200 using one or more recognizedlandmarks 3102, 3104 may be used. Although, FIG. 31 depicts vehicle 200as equipped with image capture devices 122, 124, 126, more or fewerimage capture devices may be employed on any particular vehicle 200. Asillustrated in FIG. 31 , road segment 3100 may be delimited by left side3106 and right side 3108. A predetermined road model trajectory 3110 maydefine a preferred path (e.g., a target road model trajectory) withinroad segment 3100 that vehicle 200 may follow as vehicle 200 travelsalong road segment 3100. In some exemplary embodiments, predeterminedroad model trajectory 3110 may be located equidistant from left side3106 and right side 3108. It is contemplated however that predeterminedroad model trajectory 3110 may be located nearer to one or the other ofleft side 3106 and right side 3108 of road segment 3100. Further,although FIG. 31 illustrates one lane in road segment 3100, it iscontemplated that road segment 3100 may have any number of lanes. It isalso contemplated that vehicle 200 travelling along any lane of roadsegment 3100 may be navigated using one or more landmarks 3102, 3104according to the disclosed methods and systems.

Image acquisition unit 120 may be configured to acquire an imagerepresentative of an environment of vehicle 200. For example, imageacquisition unit 120 may obtain an image showing a view in front ofvehicle 200 using one or more of image capture devices 122, 124, 126.Processing unit 110 of vehicle 200 may be configured to detect one ormore landmarks 3102, 3104 in the one or more images acquired by imageacquisition unit 120. Processing unit 110 may detect the one or morelandmarks 3102, 3104 using one or more processes of landmarkidentification discussed above. Although FIG. 31 illustrates only twolandmarks 3102, 3104, it is contemplated that vehicle 200 may detectfewer than or more than landmarks 3102, 3104 based on the imagesacquired by image acquisition unit 120.

Processing unit 110 may be configured to determine positions 3132, 3134of the one or more landmarks 3102, 3104, respectively, relative to acurrent position 3112 of vehicle 200. Processing unit 110 may also beconfigured to determine a distance between current position 3112 ofvehicle 200 and the one or more landmarks 3102, 3104. Further,processing unit 110 may be configured to determine one or moredirectional indicators 3114, 3116 of the one or more landmarks 3102,3104 relative to current position 3112 of vehicle 200. Processing unit110 may be configured to determine directional indicators 3114, 3116 asvectors originating from current position 3112 of vehicle 200 andextending towards, for example, positions 3132, 3134 of landmarks 3102,3104, respectively.

Processing unit 110 may also be configured to determine an intersectionpoint 3118 of the one or more directional indicators 3114, 116 withpredetermined road model trajectory 3110. In one exemplary embodiment asillustrated in FIG. 31 , intersection point 3118 may coincide withcurrent position 3112 of vehicle 200. This may occur, for example, whenvehicle 200 is located on predetermined road model trajectory 3110.Although generally vehicle 200 may be expected to be located on or verynear predetermined road model trajectory 3110, it is contemplated thatvehicle 200 may not be located on predetermined road model trajectory3110 as will be discussed below with respect to FIG. 32 .

Processing unit 110 may be configured to determine a direction 3120 ofpredetermined road model trajectory 3110 at intersection point 3118.Processing unit 110 may determine direction 3120 as a directiontangential to predetermined road model trajectory 3110. In one exemplaryembodiment, processing unit 110 may be configured to determine direction3120 based on a gradient or slope of a three-dimensional polynomialrepresenting predetermined road model trajectory 3110.

Processing unit 110 may also be configured to determine headingdirection 3130 of vehicle 200. As illustrated in FIG. 14 , headingdirection 3130 of vehicle 200 may be a direction along which imagecapture device 122 may be oriented relative to a local coordinate systemassociated with vehicle 200. Processing unit 110 may be configured todetermine whether heading direction 3130 of vehicle 200 is aligned with(i.e., generally parallel to) direction 3120 of predetermined road modeltrajectory 3110. When heading direction 3130 is not aligned withdirection 3420 of predetermined road model trajectory 3110 atintersection point 3118, processing unit 110 may determine an autonomoussteering action such that heading direction 3130 of vehicle 200 may bealigned with direction 3120 of predetermined road model trajectory 3110.In one exemplary embodiment, an autonomous steering action may include,for example, a determination of an angle by which the steering wheel orfront wheels of vehicle 200 may be turned to help ensure that headingdirection 3130 of vehicle 200 may be aligned with direction 3120 ofpredetermined road model trajectory 3110. In another exemplaryembodiment, an autonomous steering action may also include a reductionor acceleration in a current velocity of vehicle 200 to help ensure thatheading direction 3130 of vehicle 200 may be aligned with direction 3120of predetermined road model trajectory 3110 in a predetermined amount oftime. Processing unit 110 may be configured to execute instructionsstored in navigational response module 408 to trigger a desirednavigational response by, for example, turning the steering wheel ofvehicle 200 to achieve a rotation of a predetermined angle. Rotation bythe predetermined angle may help align heading direction 3130 of vehicle200 with direction 3120.

Processing unit 110 may include additional considerations whendetermining the autonomous steering action. For example, in someexemplary embodiments, processing unit 110 may determine the autonomoussteering action based on a kinematic and physical model of the vehicle,which may include the effects of a variety of possible autonomoussteering actions on the vehicle or on a user of vehicle 200. Processingunit 110 may implement a selection criteria for selecting at least oneautonomous steering action from the plurality of autonomous steeringactions. In other exemplary embodiments, processing unit 110 maydetermine an autonomous steering action based on a “look ahead”operation, which may evaluate portions of road segment 3100 located infront of current location 3118 of vehicle 200. Processing unit 110 maydetermine an effect of one or more autonomous steering actions on thebehavior of vehicle 200 or on a user of vehicle 200 at a location infront of current location 3118, which may be caused by the one or moreautonomous steering actions. In yet other exemplary embodiments,processing unit 110 may further account for the presence and behavior ofone or more other vehicles in the vicinity of vehicle 200 and a possible(estimated) effect of one or more autonomous steering actions on suchone or more other vehicles. Processing unit 110 may implement theadditional considerations as overrides. Thus, for example, processingunit 110 may initially determine an autonomous steering action that mayhelp ensure that heading direction 3130 of vehicle 200 may be alignedwith direction 3120 of predetermined road model trajectory 3110 atcurrent location 3118. When processing unit 110 determines that thedetermined autonomous steering does not comply with one or moreconstraints imposed by the additional considerations, processing unit110 may modify the autonomous steering action to help ensure that allthe constraints may be satisfied.

Image acquisition unit 120 may repeatedly acquire an image of theenvironment in front of vehicle 200, for example, after a predeterminedamount of time. Processing unit 110 may also be configured to repeatedlydetect the one or more landmarks 3102, 3104 in the image acquired byimage acquisition unit 120 and determine the autonomous steering actionas discussed above. Thus, image acquisition unit 120 and processing unit110 may cooperate to navigate vehicle 200 along road segment 3100 usingone or more landmarks 3102, 3104.

FIG. 32 illustrates a vehicle 200 travelling on road segment 3100 inwhich the disclosed systems and methods for navigating vehicle 200 usingone or more recognized landmarks 3102, 3104 may be used. Unlike FIG. 31, vehicle 200 of FIG. 32 is not located on predetermined road modeltrajectory 3110. As a result, as illustrated in FIG. 32 , intersectionpoint 3118 of directional indicator 3116 may not coincide with currentposition 3212 of vehicle 200.

As discussed above with respect to FIG. 31 , processing unit 110 may beconfigured to determine a direction 3120 of predetermined road modeltrajectory 3110 at intersection point 3118. Processing unit 110 may alsobe configured to determine whether heading direction 3130 of vehicle 200is aligned with (i.e. generally parallel to) direction 3120. Whenheading direction 3130 is not aligned with direction 3120 ofpredetermined road model trajectory 3110 at intersection point 3118,processing unit 110 may determine a first autonomous steering actionsuch that heading direction 3130 of vehicle 200 may be aligned withdirection 3120 of predetermined road model trajectory 3110. For example,as illustrated in FIG. 32 , processing unit 110 may determine the firstautonomous steering action to require a rotation by an angle to helpensure that heading direction 3130 of vehicle 200 may be aligned withdirection 3120.

In addition, when current position 3112 of vehicle 200 is not located onpredetermined road model trajectory 3110, processing unit 110 maydetermine a second autonomous steering action to help ensure thatvehicle 200 may move from current position 3112 to intersection point3118 on predetermined road model trajectory 3110. For example, asillustrated in FIG. 32 , processing unit 110 may determine a distance“d” by which vehicle 200 must be translated to move current position3112 to coincide with intersection point 3118 on predetermined roadmodel trajectory 3110. Although not illustrated in FIG. 32 , processingunit 110 may also be configured to determine a rotation that may berequired to help ensure that vehicle 200 may move from current position3112 to intersection point 3118 on predetermined road model trajectory3110. Processing unit 110 may be configured to execute instructionsstored in navigational response module 408 to trigger a desirednavigational response corresponding to the first autonomous steeringaction, the second autonomous steering action, or some combination ofthe first and the second autonomous steering actions. In someembodiment, processing unit 110 may execute instructions to trigger adesired navigational response corresponding to the first autonomoussteering action and the second autonomous steering action sequentiallyin any order.

FIG. 33 is a flowchart showing an exemplary process 3300, for navigatingvehicle 200 along road segment 3100, using one or more landmarks,consistent with disclosed embodiments. Steps of process 3300 may beperformed by one or more of processing unit 110 and image acquisitionunit 120, with or without the need to access memory 140 or 150. Theorder and arrangement of steps in process 3300 is provided for purposesof illustration. As will be appreciated from this disclosure,modifications may be made to process 3300 by, for example, adding,combining, removing, and/or rearranging the steps for the process.

As illustrated in FIG. 36 , process 3300 may include a step 3302 ofacquiring an image representative of an environment of the vehicle. Inone exemplary embodiment, image acquisition unit 120 may acquire one ormore images of an area forward of vehicle 200 (or to the sides or rearof a vehicle, for example). For example, image acquisition unit 120 mayobtain an image using image capture device 122 having a field of view202. In other exemplary embodiments, image acquisition unit 120 mayacquire images from one or more of image capture devices 122, 124, 126,having fields of view 202, 204, 206. Image acquisition unit 120 maytransmit the one or more images to processing unit 110 over a dataconnection (e.g., digital, wired, USB, wireless, Bluetooth, etc.).

Process 3300 may also include a step 3304 of identifying one or morelandmarks 3202, 3204 in the one or more images. Processing unit 110 mayreceive the one or more images from image acquisition unit 120.Processing unit 110 may execute monocular image analysis module 402 toanalyze the plurality of images at step 3304, as described in furtherdetail in connection with FIGS. 5B-5D. By performing the analysis,processing unit 110 may detect a set of features within the set ofimages, for example, one or more landmarks 3102, 3104. Landmarks 3102,3104 may include one or more traffic signs, arrow markings, lanemarkings, dashed lane markings, traffic lights, stop lines, directionalsigns, reflectors, landmark beacons, lampposts, a change is spacing oflines on the road, signs for businesses, and the like.

In some embodiments, processing unit 110 may execute monocular imageanalysis module 402 to perform multi-frame analysis on the plurality ofimages to detect landmarks 3102, 3104. For example, processing unit 110may estimate camera motion between consecutive image frames andcalculate the disparities in pixels between the frames to construct a3D-map of the road. Processing unit 110 may then use the 3D-map todetect the road surface, as well as landmarks 3102, 3104. In anotherexemplary embodiment, image processor 190 of processing unit 110 maycombine a plurality of images received from image acquisition unit 120into one or more composite images. Processing unit 110 may use thecomposite images to detect the one or more landmarks 3102, 3104.

In some embodiments, processing unit 110 may be able to recognizevarious attributes of objects that may qualify as potential landmarks.This information may be uploaded to a server, for example, remote fromthe vehicle. The server may process the received information and mayestablish a new, recognized landmark within sparse data map 1900, forexample. It may also be possible for the server to update one or morecharacteristics (e.g., size, position, etc.) of a recognized landmarkalready included in sparse data map 1900.

In some cases, processing unit 110 may receive information from a remoteserver that may aid in locating recognized landmarks (e.g., thoselandmarks that have already been identified and represented in sparsedata map 1900). For example, as a vehicle travels along a particularroad segment, processor 110 may access one or more local mapscorresponding to the road segment being traversed. The local maps may bepart of sparse data map 1900 stored on a server located remotely withrespect to the vehicle, and the one or more local maps may be wirelesslydownloaded as needed. In some cases, the sparse map 1900 may be storedlocally with respect to the navigating vehicle. The local maps mayinclude various features associated with a road segment. For example,the local maps may include a polynomial spline representative of atarget trajectory that the vehicle should follow along the road segment.The local maps may also include representations of recognized landmarks.In some cases, as previously described, the recognized landmarks mayinclude information such as a landmark type, position, size, distance toanother landmark, or other characteristics. In the case of non-semanticsigns (e.g., general signs not necessarily associated with roadnavigation), for example, the information stored in sparse data map 1900may include a condensed image signature associated with the non-semanticroad sign.

Such information received from sparse data map 1900 may aid processorunit 110 in identifying recognized landmarks along a road segment. Forexample, processor unit 110 may determine based on its current position(determined, for example, based on GPS data, dead reckoning relative toa last determined position, or any other suitable method) andinformation included in a local map (e.g., a localized position of thenext landmark to be encountered and/or information indicating a distancefrom the last encountered landmark to the next landmark) that arecognized landmark should be located at a position approximately 95meters ahead of the vehicle and 10 degrees to the right of a currentheading direction. Processor unit 110 may also determine from theinformation in the local map that the recognized landmark is of a typecorresponding to a speed limit sign and that the sign has a rectangularshape of about 2 feet wide by 3 feet tall.

Thus, when processor unit 110 receives images captured by the onboardcamera, those images may be analyzed by searching for an object at theexpected location of a recognized landmark from sparse map 1900. In thespeed limit sign example, processor unit 110 may review captured imagesand look for a rectangular shape at a position in the image 10 degreesto the right of a heading direction of the vehicle. Further, theprocessor may look for a rectangular shape occupying a number of pixelsof the image that a 2 foot by 3 foot rectangular sign would be expectedto occupy at a relative distance of 95 meters. Upon identifying such anobject in the image, where expected, the processor may develop a certainconfidence level that the expected recognized landmark has beenidentified. Further confirmation may be obtained, for example, byanalyzing the image to determine what text or graphics appear on thesign in the captured images. Through textual or graphics recognitionprocesses, the processor unit may determine that the rectangular shapein the captured image includes the text “Speed Limit 55.” By comparingthe captured text to a type code associated with the recognized landmarkstored in sparse data map 1900 (e.g., a type indicating that the nextlandmark to be encountered is a speed limit sign), this information canfurther verify that the observed object in the captured images is, infact, the expected recognized landmark.

Process 3300 may include a step 3306 of determining a current position3112 of vehicle 200 relative to a target trajectory. Processing unit 110may determine current position 3112 of vehicle 200 in many differentways. For example, processing unit 110 may determine current position3112 based on signals from position sensor 130, for example, a GPSsensor. In another exemplary embodiment, processing unit 110 maydetermine current position 3212 of vehicle 200 by integrating a velocityof vehicle 200 as vehicle 200 travels along predetermined road modeltrajectory 3110. For example, processing unit 110 may determine a time“t” required for vehicle 200 to travel between two locations onpredetermined road model trajectory 3110. Processing unit 110 mayintegrate the velocity of vehicle 200 over time t to determine currentposition 3112 of vehicle 200 relative to the two locations onpredetermined road model trajectory 3110.

Once a recognized landmark is identified in a captured image,predetermined characteristics of the recognized landmark may be used toassist a host vehicle in navigation. For example, in some embodiments,the recognized landmark may be used to determine a current position ofthe host vehicle. In some cases, the current position of the hostvehicle may be determined relative to a target trajectory from sparsedata model 1900. Knowing the current position of the vehicle relative toa target trajectory may aid in determining a steering angle needed tocause the vehicle to follow the target trajectory (for example, bycomparing a heading direction to a direction of the target trajectory atthe determined current position of the vehicle relative to the targettrajectory).

A position of the vehicle relative to a target trajectory from sparsedata map 1900 may be determined in a variety of ways. For example, insome embodiments, a 6D Kalman filtering technique may be employed. Inother embodiments, a directional indicator may be used relative to thevehicle and the recognized landmark. For example, process 3300 may alsoinclude a step 3308 of determining one or more directional indicators3114, 3116 associated with the one or more landmarks 3102, 3104,respectively. Processing unit 110 may determine directional indicators3114, 3116 based on the relative positions 3132, 3134 of the one or morelandmarks 3102, 3104, respectively, relative to current position 3112 ofvehicle 200. For example, processing unit 110 may receive landmarkpositions 3132, 3134 for landmarks 3102, 3104, respectively, frominformation, which may be stored in one or more databases in memory 140or 150. Processing unit 110 may also determine distances between currentposition 3112 of vehicle 200 and landmark positions 3132, 3134 forlandmarks 3102, 3104, respectively. In addition, processing unit 110 maydetermine directional indicator 3114 as a vector extending from currentposition 3112 of vehicle 200 and extending along a straight line passingthrough current position 3112 and landmark position 3132. Likewise,processing unit 110 may determine directional indicator 3116 as a vectorextending from current position 3112 of vehicle 200 and extending alonga straight line passing through current position 3112 and landmarkposition 3134. Although two landmarks 3102, 3104 are referenced in theabove discussion, it is contemplated that processing unit 110 maydetermine landmark positions 3132, 3134, distances between currentposition 3112 and landmark positions 3102, 3114, and directionalindicators 3114, 3116 for fewer than or more than landmarks 3102, 3104.

Process 3300 may include a step 3310 of determining an intersectionpoint 3118 of directional indicator 3416 with predetermined road modeltrajectory 3110. Processing unit 110 may determine a location ofintersection point 3118 at which predetermined road model trajectory3110 intersects with a straight line extending between current position3112 of vehicle 200 and landmark position 3134. Processing unit 110 mayobtain a mathematical representation of predetermined road modeltrajectory 3110 from information stored in memories 140, 150. Processingunit 110 may also generate a mathematical representation of a straightline passing through both current position 3112 of vehicle 200 andlandmark position 3134 of landmark 3104. Processing unit 110 may use themathematical representation of predetermined road model trajectory 3110and the mathematical representation of a straight line extending betweencurrent position 3112 and landmark position 3134 to determine a locationof intersection point 3118.

In one exemplary embodiment as illustrated in FIG. 31 , intersectionpoint 3118 may coincide with current position 3112 of vehicle 200 (e.g.,a position of a point of reference, which may be arbitrarily assigned,associated with the vehicle). This may happen, for example, when vehicle200 is located on predetermined road model trajectory 3110. In anotherexemplary embodiment as illustrated in FIG. 32 , intersection point 3118may be separated from current position 3212. Processing unit 110 maydetect that vehicle 200 is not located on predetermined road modeltrajectory 3110 by comparing a first distance “D₁” (see, e.g., FIG. 35 )between current position 3112 and landmark position 3134 with a seconddistance “D₂” between intersection point 3118 and landmark position3134.

When intersection point 3118 is separated from current position 3112 ofvehicle 200, processing unit 110 may determine an amount of translationand/or rotation that may be required to help move vehicle 200 fromcurrent position 3112 to intersection point 3118 on predetermined roadmodel trajectory 3110. In some exemplary embodiments, processing unit110 may execute navigation module 408 to cause one or more navigationalresponses in vehicle 200 based on the analysis performed at step 520 andthe techniques as described above in connection with FIG. 4 . Forexample, processing unit 110 may issue commands to steering system 240to move vehicle 200 so that a current position 3112 of vehicle 200 maycoincide with intersection point 3118.

Process 3300 may include a step 3312 of determining direction 3120 ofpredetermined road model trajectory 3110 at intersection point 3118. Inone exemplary embodiment, processing unit 110 may obtain a mathematicalrepresentation (e.g. three-dimensional polynomial) of predetermined roadmodel trajectory 3110. Processing unit 110 may determine direction 3120as a vector oriented tangentially to predetermined road model trajectory3110 at intersection point 3118. For example, processing unit 110 maydetermine direction 3220 as a vector pointing along a gradient of themathematical representation of predetermined road model trajectory 3110at intersection point 3118.

Process 3300 may also include a step 3314 of determining an autonomoussteering action for vehicle 200. In one exemplary embodiment, processingunit 110 may determine a heading direction 3130 of vehicle 200. Forexample, as illustrated in FIGS. 31 and 32 , processing unit 110 maydetermine heading direction 3130 of vehicle 200 as the direction inwhich image capture device 122 may be oriented relative to a localcoordinate system associated with vehicle 200. In another exemplaryembodiment, processing unit 200 may determine heading direction 3130 asthe direction of motion of vehicle 200 at current position 3112.Processing unit 110 may also determine a rotational angle betweenheading direction 3130 and direction 3120 of predetermined road modeltrajectory 3110. Processing unit 110 may execute the instructions innavigational module 408 to determine an autonomous steering action forvehicle 200 that may help ensure that heading direction 3130 of vehicle200 is aligned (i.e., parallel) with direction 3120 of predeterminedroad model trajectory 3110 at intersection point 3118. Processing unit110 may also send control signals to steering system 240 to adjustrotation of the wheels of vehicle 200 to turn vehicle 200 so thatheading direction 3130 may be aligned with direction 3120 ofpredetermined road model trajectory 3110 at intersection point 3118. Inone exemplary embodiment, processing unit 110 may send signals tosteering system 240 to adjust rotation of the wheels of vehicle 200 toturn vehicle 200 until a difference between heading direction 3130 anddirection 3120 of predetermined road model trajectory 3110 atintersection point 3118 may be less than a predetermined thresholdvalue.

Processing unit 110 and/or image acquisition unit 120 may repeat steps3302 through 3314 after a predetermined amount of time. In one exemplaryembodiment, the predetermined amount of time may range between about 0.5seconds to 1.5 seconds. By repeatedly determining intersection point3118, heading direction 3130, direction 3120 of predetermined road modeltrajectory 3110 at intersection point 3118, and the autonomous steeringaction required to align heading direction 3130 with direction 3120,processing unit 110 and/or image acquisition unit 120 may help tonavigate vehicle 200, using the one or more landmarks 3102, 3104, sothat vehicle 200 may travel along road segment 3100.

Sparse Map Autonomous Vehicle Navigation

In some embodiments, the disclosed systems and methods may use a sparsemap for autonomous vehicle navigation. As discussed above, the sparsemap may provide sufficient information for navigation without requiringexcessive data storage or data transfer rates. Further, a vehicle (whichmay be an autonomous vehicle) may use the sparse map to navigate one ormore roads. For example, as discussed below in further detail, vehicle200 may determine an autonomous navigational response based on analysisof the sparse map and at least one image representative of anenvironment of vehicle 200.

In some embodiments, vehicle 200 may access a sparse map that mayinclude data related to a road on which vehicle 200 is traveling andpotentially landmarks along the road that may be sufficient for vehiclenavigation. As described in sections above, the sparse data mapsaccessed by vehicle 200 may require significantly less storage space anddata transfer bandwidth as compared with digital maps including detailedmap information, such as image data collected along a road. For example,rather than storing detailed representations of a road segment on whichvehicle 200 is traveling, the sparse data map may store threedimensional polynomial representations of preferred vehicle paths alongthe road. A polynomial representation of a preferred vehicle path alongthe road may be a polynomial representation of a target trajectory alonga road segment. These paths may require very little data storage space.

Consistent with disclosed embodiments, an autonomous vehicle system mayuse a sparse map for navigation. As discussed earlier, at the core ofthe sparse maps, one or more three-dimensional contours may representpredetermined trajectories that autonomous vehicles may traverse as theymove along associated road segments. As also discussed earlier, thesparse maps may also include other features, such as one or morerecognized landmarks, road signature profiles, and any otherroad-related features useful in navigating a vehicle.

In some embodiments, an autonomous vehicle may include a vehicle bodyand a processor configured to receive data included in a sparse map andgenerate navigational instructions for navigating the vehicle along aroad segment based on the data in the sparse map.

As discussed above in connection with FIG. 19 , vehicle 200 (which maybe an autonomous vehicle) may access sparse map 1900 to navigate. Asshown in FIG. 19 , in some embodiments, sparse map 1900 may be stored ina memory, such as memory 140 or 150. For example, sparse map 1900 may bestored on a storage device or a non-transitory computer-readable mediumprovided onboard vehicle 200 (e.g., a storage device included in anavigation system onboard vehicle 200). A processor (e.g., processingunit 110) provided on vehicle 200 may access a sparse map stored in thestorage device or computer-readable medium provided onboard vehicle 200in order to generate navigational instructions for guiding theautonomous vehicle 200 as it traverses a road segment.

In some embodiments, sparse map 1900 may be stored remotely. FIG. 34shows an example of vehicle 200 receiving data from a remote server4400, consistent with disclosed embodiments. As shown in FIG. 34 ,remote server 3400 may include a storage device 3405 (e.g., acomputer-readable medium) provided on remote server 3400 thatcommunicates with vehicle 200. For example, remote server 3400 may storea sparse map database 3410 in storage device 3405. Sparse map database3410 may include sparse map 1900. In some embodiments, sparse mapdatabase 3410 may include a plurality of sparse maps. Sparse mapdatabase 3410 may be indexed based on certain regions (e.g., based ongeographical boundaries, country boundaries, state boundaries, etc.) orbased on any appropriate parameter (e.g., type or size of vehicle,climate, etc.). Vehicle 200 may communicate with remote server 440 viaone or more networks (e.g., over a cellular network and/or the Internet,etc.) through a wireless communication path. In some embodiments, aprocessor (e.g., processing unit 110) provided on vehicle 200 mayreceive data included in sparse map database 3410 over one or morenetworks from remove server 3400. Furthermore, vehicle 200 may executeinstructions for navigating vehicle 200 using sparse map 1900, asdiscussed below in further detail.

As discussed above in reference to FIG. 19 , sparse map 1900 may includerepresentations of a plurality of target trajectories 1910 for guidingautonomous driving or navigation along a road segment. Such targettrajectories may be stored as three-dimensional splines. The targettrajectories stored in sparse map 1900 may be determined based on two ormore reconstructed trajectories of prior traversals of vehicles along aparticular road segment. A road segment may be associated with a singletarget trajectory or multiple target trajectories. For example, on a twolane road, a first target trajectory may be stored to represent anintended path of travel along the road in a first direction, and asecond target trajectory may be stored to represent an intended path oftravel along the road in another direction (e.g., opposite to the firstdirection). Additional target trajectories may be stored with respect toa particular road segment.

Sparse map 1900 may also include data relating to a plurality ofpredetermined landmarks 1920 associated with particular road segments,local maps, etc. As discussed in detail in other sections, theselandmarks may be used in navigation of vehicle 200. For example, in someembodiments, the landmarks may be used to determine a current positionof vehicle 200 relative to a stored target trajectory. With thisposition information, vehicle 200 may be able to adjust a headingdirection to match a direction of the target trajectory at thedetermined location.

Landmarks may include, for example, any identifiable, fixed object in anenvironment of at least one road segment or any observablecharacteristic associated with a particular section of a particular roadsegment. In some cases, landmarks may include traffic signs (e.g., speedlimit signs, hazard signs, etc.). In other cases, landmarks may includeroad characteristic profiles associated with a particular section of aroad segment. Further examples of various types of landmarks arediscussed in previous sections, and some landmark examples are shown anddiscussed above in connection with FIG. 21 .

FIG. 35 shows vehicle 200 navigating along a multi-lane road consistentwith disclosed embodiments. Here, a vehicle 200 may navigate roadsegments present within a geographic region 2211 shown previously inFIG. 22B. As previously discussed in relation to FIG. 2B, road segment220 may include a multilane road with lanes 2222 and 2224, double yellowline 2223, and branching road segment 2230 that intersects with roadsegment 2220. Geographic region 2211 may also include other roadfeatures, such as a stop line 2232, a stop sign 2234, a speed limit sign2236, and a hazard sign 2238.

FIG. 36 shows vehicle 200 navigating using target trajectories along amulti-lane road consistent with disclosed embodiments. A vehicle 200 maynavigate geographic region 2211 shown previously in FIG. 22B and FIG. 35, using target trajectory 3600. Target trajectory 3600 may be includedin a local map (e.g., local map 2240 of FIG. 22C) of sparse map 1900,and may provide a target trajectory for one or more lanes associatedwith a road segment. As previously discussed, sparse map 1900 mayinclude representations of road-related features associated withgeographic region 2211, such as representations of one or more landmarksidentified in geographic region 2211. Such landmarks may include speedlimit sign 2236 and hazard sign 2238. Vehicle 200 may use speed limitsign 2236 and hazard sign 2238 to assist in determining its currentlocation relative to target trajectory 3600. Based on the determinedcurrent location of vehicle 200 relative to target trajectory 3600,vehicle 200 may adjust its heading to match a direction of the targettrajectory at the determined location.

As discussed above, in some embodiments, sparse map 1900 may alsoinclude road signature profiles. Such road signature profiles may beassociated with any discernible/measurable variation in at least oneparameter associated with a road. For example, in some cases, suchprofiles may be associated with variations in surface roughness of aparticular road segment, variations in road width over a particular roadsegment, variations in distances between dashed lines painted along aparticular road segment, variations in road curvature along a particularroad segment, etc.

FIG. 37 shows an example of a road signature profile 2260 associatedwith vehicle 200 as it travels on the road shown in FIGS. 35 and 36 .While profile 2260 may represent any of the parameters mentioned above,or others, in relation to vehicle 200, in one example, profile 2260 mayrepresent a measure of road surface roughness obtained by monitoring oneor more sensors providing outputs indicative of an amount of suspensiondisplacement as a vehicle 200 travels a road segment in FIG. 36 .Alternatively, profile 2260 may represent variation in road width, asdetermined based on image data obtained via a camera onboard vehicle 200traveling in a road segment in FIG. 36 . Such profiles may be useful,for example, in determining a particular location of vehicle 200relative to target trajectory 3600, and may aid in navigation of vehicle200. That is, as vehicle 200 traverses a road segment of FIG. 36 ,vehicle 200 may measure a profile associated with one or more parametersassociated with that road segment. If the measured profile can becorrelated/matched with a predetermined profile that plots the parametervariation with respect to position along the road segment, then themeasured and predetermined profiles may be used by vehicle 200 (e.g., byoverlaying corresponding sections of the measured and predeterminedprofiles) in order to determine a current position along the roadsegment and, therefore, a current position relative to target trajectory3600 for the road segment. Measurements of the profile by vehicle 200may continue as vehicle 200 travels in lane 2224 of FIG. 36 in order tocontinuously determine a current position along the road segment and acurrent position of vehicle 200 relative to target trajectory 3600. Assuch, navigation of vehicle 200 may be provided.

FIG. 38 is an illustration of an example of a portion of a roadenvironment 3800, as shown in FIGS. 35 and 36 . In this example, FIG. 38shows road segment 2220. Vehicle 200 may be traveling along road segment2220. Along the road segment 2220, landmarks such as speed limit sign2236 and hazard sign 2238 may be present. Speed limit sign 2236 andhazard sign 2238 may be recognized landmarks that are stored in sparsemap 1900, and may be used for autonomous vehicle navigation along roadsegment 2220 (e.g., for locating vehicle 200, and/or for determining atarget trajectory of vehicle 200). Recognized landmarks 2236 and 2238 insparse map 1900 may be spaced apart from each other at a certain rate.For example, recognized landmarks may be spaced apart in the sparse mapat a rate of no more than 0.5 per kilometer, at a rate of no more than 1per kilometer, or at a rate of no more than 1 per 100 meters. Landmarks2236 and 2238 may be used, for example, to assist vehicle 200 indetermining its current location relative to target trajectory 3600,such that the vehicle may adjust its heading to match a direction of thetarget trajectory at the determined location.

FIG. 39 is a flow chart showing an exemplary process 3900 for sparse mapautonomous navigation consistent with the disclosed embodiments.Processing unit 110 may utilize one of or both of application processor180 and image processor 190 to implement process 3900. As discussedbelow in further detail, vehicle 200 may determine an autonomousnavigational response based on analysis of a sparse map and at least oneimage representative of an environment of vehicle 200.

At step 3902, processing unit 110 may receive a sparse map of a roadsegment, such as sparse map 1900, from memory 140 or 150. For example,the sparse map may be transmitted to processing unit 110 based on acalculation of the position of vehicle 200 by position sensor 130. Inother exemplary embodiments, vehicle 200 may receive the sparse map fromremote server 3400. The sparse map data may have a particular datadensity. The data density of the sparse map may be expressed in terms ofdata unit per unit distance. For example, the sparse map may have a datadensity of no more than 1 megabyte per kilometer. In another example,the sparse map may have a data density of no more than 100 kilobytes perkilometer. In another example, the sparse map may have a data density ofno more than 10 kilobytes per kilometer. Data density may be expressedin terms of any conceivable data unit and unit distance. Further, thesparse map may include a polynomial representation of a targettrajectory along the road segment.

At step 3904, processing unit 110 may receive at least one imagerepresentative of an environment of vehicle 200. For example, processingunit 110 may receive at least one image from image acquisition unit 120using image capture device 122. In other exemplary embodiments, imageacquisition unit 120 may acquire one or more images from one or more ofimage capture devices 122, 124, and 126. Image acquisition unit 120 maytransmit the one or more images to processing unit 110 over a dataconnection (e.g., digital, wired, USB, wireless, Bluetooth, etc.).

At step 3906, processing unit 110 may analyze the received sparse mapand the at least one image of the environment of vehicle 200. Forexample, processing unit 110 may execute monocular image analysis module402 to analyze one or more images, as described in further detail inconnection with FIGS. 5B-5D. By performing the analysis, processing unit110 may detect a set of features within the set of images, for example,one or more landmarks, such as landmarks 2234, 2236, and 2238. Asdiscussed earlier, landmarks may include one or more traffic signs,arrow markings, lane markings, dashed lane markings, traffic lights,stop lines, directional signs, reflectors, landmark beacons, lampposts,a change is spacing of lines on the road, signs for businesses, and thelike. Furthermore, processing unit 110 may analyze the sparse map todetermine that an object in one or more images is a recognized landmark.For example, processing unit 110 may compare the image of the object todata stored in the sparse map. Based on the comparison, the imageprocessor 190 may determine whether or not the object is a recognizedlandmark. Processing unit 110 may use recognized landmarks from capturedimage data of the environment and/or GPS data to determine a position ofvehicle 200. Processing unit 110 may then determine a position ofvehicle 200 relative to a target trajectory of the sparse map.

At step 3908, processing unit 110 may cause one or more navigationalresponses in vehicle 200 based solely on the analysis of the sparse mapand at least one image of the environment performed at step 3906. Forexample, processing unit 110 may select an appropriate navigationalresponse based on the position of vehicle 200 relative to the targettrajectory of the sparse map. Navigational responses may include, forexample, a turn, a lane shift, a change in acceleration, and the like.Processing unit 110 may cause system 100 to provide inputs (e.g.,control signals) to one or more of throttling system 220, braking system230, and steering system 240 as shown in FIG. 2F to navigate vehicle 200(e.g., by causing an acceleration, a turn, a lane shift, etc.) toprovide a navigational response. System 100 may provide inputs to one ormore of throttling system 220, braking system 230, and steering system240 over one or more data links (e.g., any wired and/or wireless link orlinks for transmitting data). Additionally, multiple navigationalresponses may occur simultaneously, in sequence, or any combinationthereof. For instance, processing unit 110 may cause vehicle 200 toshift one lane over and then accelerate by, for example, sequentiallytransmitting control signals to steering system 240 and throttlingsystem 220 of vehicle 200. Alternatively, processing unit 110 may causevehicle 200 to brake while at the same time shifting lanes by, forexample, simultaneously transmitting control signals to braking system230 and steering system 240 of vehicle 200.

Navigation by Augmented Path Prediction

As described in the sections above, the disclosed system is capable ofanalyzing one or more images captured by a camera and generating aplanned trajectory (a predicted path, etc.) for an autonomous vehicle.In some cases, as described, a trained neural network may analyze theone or more images captured by a camera (e.g., a camera mounted onboarda host vehicle) and determine a planned trajectory based on numerouscriteria or considerations. Just a few examples of such criteria orconsiderations may include identified free space ahead of the hostvehicle, identified lane markings, identified road edges, a determinedlane center, one or more parked cars identified on a road traversed bythe host vehicle, one or more target vehicles (moving or stationary)identified on a road traversed by the host vehicle, identified curves,identified junctions, identified intersections, and many other criteriaor considerations.

Advanced Driving Assistance Systems (ADAS), which are usually classifiedas level 2 autonomous driving, may include some type of a lane centeringsystem. Lane centering may be performed in computer vision-basedsystems, but such systems tend to work best in certain well-definedscenarios, such as in driving situations that involve lanes defined bypainted lane marks. Vision-based systems may have more difficultynavigating more complex road features, such as junctions, urban roadswith no markings, traffic circles, etc. without at least some level ofinformation augmentation (e.g., to discern an intent relative todirection or route to be taken, etc.).

As described in the sections above, the presently disclosed systems maybe capable of analyzing one or more captured images and generating aplanned trajectory for the host vehicle. Nevertheless, certainambiguities may exist that may make the planned trajectory generationmore difficult or complex. For example, where the system identifiesmultiple potential and valid paths that could be taken by the hostvehicle, the system may be forced to decide which of the paths is mostappropriate for the host vehicle. An image representing a fork in theroad may have a few correct answers for possible, valid routes, but onlyone of the available paths may be correct or best for a specific driveor for reaching a desired destination.

In some cases, the host vehicle may traverse a road segment consistingof only one valid route for the host vehicle (e.g., a road segmenthaving no entries, exits, intersections, etc. that are identifiable in acaptured image). In such cases, there may be no ambiguity in which routethe planned trajectory should follow.

In some cases, however, in such scenarios in which the host vehicle maytraverse a road segment consisting of one valid route, an ambiguity(e.g., a structure, object, lines) may potentially mislead the systemand/or sensors onboard the host vehicle to detect an alternativedrivable path (in addition to the intended path for the host vehicle),where there is actually no alternative drivable path. In additionalcases, for example, where intersections, merge lanes, road curves, exitlanes, traffic circles, road junctions, unmarked road segments, roadsegments with obscured edges, multiple intersecting roads in closeproximity, etc. may be identifiable in one or more captured images, itmay be more difficult for the system to generate the planned trajectoryfor the host vehicle, as it may be less clear which of the available,potential routes identified in the captured image(s) should be traversedby the host vehicle. In such cases, for autonomous navigation systems,additional information beyond the captured image information may beprovided in order to successfully drive through road features whereroute ambiguity may exist. Such information may include, instructions ateach junction or traffic circle about which road to choose. Even morebasic, such information may include information providing directionalguidelines (rather than specific instructions) which can be used by thedisclosed system to select a path from among available routes. At theother end of the spectrum, the system may receive maps (e.g., any of thesparse maps described above) from which the system may discern an exactintended driving path from which to generate a planned trajectory. Insome embodiments, the system may provide redundancy by using anycombination of images, additional information (e.g., drivinginstructions and/or directional guidelines), and/or maps (e.g., a sparsemap, as described above).

Various techniques may be used by the system to resolve routeambiguities in autonomous navigation systems and to generate a plannedtrajectory along an intended route. In some cases, the system maydefault to a presumption that the host vehicle should continue“straight” unless faced with some indication of an intent to travelalong a different path. In such cases, even where multiple, valid routesmay be identified, the system may generate the planned trajectory alongthe available route deemed most consistent with a continuation ofcurrent route.

In other situations, however, it may be less clear to the system whichof the identified, available routes should be taken. In some cases, thesystem may resolve ambiguities based on received input that enables thesystem (e.g., one or more processors associated with the navigationsystem) to determine which of the identified, valid routes the plannedtrajectory for the host vehicle should follow.

Various types of input may be supplied to the one or more processors ofthe vehicle navigation system for assisting in generation of the plannedtrajectory. In some cases, the navigation processor(s) for the hostvehicle, may be programmed to perform specific operations associatedwith the generation of planned trajectories for a host vehicle. Suchprogramming may include, for example, access to instructions stored in amemory, access to instructions included in one or more of the availableprocessors as part of a processor architecture/instruction set, etc.,such that execution of such instructions contribute to the disclosedoperation of the system. Such programming may also include one or moretrained neural networks (discussed in the sections above and in moredetail below) that can be relied upon by the one or more processors toreceive various navigational inputs and, based on previous training,return various outputs useful in generating planned trajectories for ahost vehicle (including, e.g., actual planned trajectories for the hostvehicle).

Inputs to the one or more navigational processors may include one ormore images representative of an environment of the host vehicle. Asnoted above, such images, e.g., may be captured by one or more camerasonboard a host vehicle. In some instances, such images may also betransmitted to the processors from locations remote with respect to thehost vehicle (e.g., navigational servers, installed infrastructure alongroadways, etc.). In addition to the image input, the navigationalprocessors of the disclosed systems may also receive one or directionalindicators for use in planning at least a segment of the plannedtrajectory for the host vehicle. Alternatively or additionally, theprocessor(s) may receive one or more distance estimates for use inplanning certain segments of the planned trajectory.

Each directional indicator may include a target trajectory direction forthe host vehicle. Such target trajectory directions may correspond toestimates of a direction the host vehicle should be heading at a certainpoint along a planned trajectory. In some cases, the directionalindictors may correspond to heading directions actually included in agenerated planned trajectory and/or taken by the host vehicle intraversing an actual trajectory. In other cases, however, thedirectional indicators function as guideposts (e.g., virtual guideposts)for assisting in generating a planned trajectory, but neither theplanned trajectory nor the actual trajectory of the host vehicleincludes segments exactly corresponding to the received directionindicators.

As described, another input that may be provided to the navigationalprocessor(s) may include one or more distance estimates associated withtarget trajectory directions for the host vehicle. In some cases, thedistance estimates may be associated with the received directionalindicators. For example, each distance estimate may indicate a distanceor location estimate where the host vehicle may obtain a headingdirection indicated/suggested by a corresponding directional indicatorspecifying a target trajectory direction for the host vehicle. As ageneral example, the navigational processor(s) may receive a directionalindicator suggesting that the host vehicle be oriented at a direction ofabout 60 degrees at a certain area of a planned trajectory to begenerated for the host vehicle. A corresponding distance estimatereceived by the navigational processors may suggest that at a certaindistance or location along the planned trajectory (e.g., 100 m), thehost vehicle should achieve the 60 degree heading. Based on this type ofinformation, the navigational processors may access one or more imagescaptured of an environment of the host vehicle, determine regions in theimages where navigation is possible, consider the received distanceestimate(s) and/or directional indicator(s), and generate a plannedtrajectory for the host vehicle that traverses navigable regions in theenvironment of the host vehicle. The planned trajectory need not achievethe particular directional and distance estimates specified by thedirectional indicators and distance estimates. Rather, these inputs areused by the navigational processor(s) as guides for generating plannedtrajectories for the host vehicle, especially when navigating regionswhere at least some level of navigational ambiguity exists. Morespecific examples are discussed further below.

The directional indicators provided to the navigational processor(s) mayinclude any type of data structure suitable for conveying directionalinformation (e.g., a target heading direction for a host vehicle). Insome cases, one or more of the directional indicators may include anangular measurement. For example, a directional indicator may specify anangle of ±10 degrees, ±45 degrees, ±60 degrees, ±90 degrees, ±135degrees, ±150 degrees, 180 degrees, 210 degrees etc. Such angle valuesmay be referenced relative to any suitable coordinate system. In somecases, the directional indicator may be referenced relative to a currentheading direction of the host vehicle, where the current headingdirection corresponds to 0 degrees, turns to the left would result innegative angle values, and turns to the right would result in positiveangle values. In such an example, a right turn onto a crossing streetthat intersects at 90 degrees a street on which the host vehicle islocated may be indicated by a directional indicator of 90 degrees. Aleft turn onto the same street may be indicated by a directionalindicator of −90 degrees. A slight bend to the right on a curve ahead ofthe host vehicle may be associated with a directional indicator of 10degrees. Similarly, a slight bend to the left may be associated with adirectional indicator of −10 degrees. Of course, other angle valueswould result in a different coordinate system (e.g., if the directionalindicator was referenced relative to world coordinates rather thanvehicle coordinates or if a different type of coordinate system wasemployed).

A directional indicator need not be provided to the navigationalprocessor(s) in the form of a numerical angle. Rather, a directionalindicator may include any type of information or data structure that mayconvey directional information or from which a direction may be derived.For example, in some cases, a directional indicator may include one ormore spatially oriented line segments from which a direction (e.g., adirection relative to a current heading direction of the host vehicle ora world coordinate system) may be derived. In other cases, a directionalindicator may correspond to one or more vectors received by thenavigational processor(s). In such cases, a directional indicator may beprovided by a direction of the vector (e.g., relative to a currentheading direction of the host vehicle or a world coordinate system), anda distance estimate applicable to a particular direction may be derivedfrom a length of the vector.

Similarly, each distance estimate may be supplied to the navigationalprocessor(s) using any suitable means for conveying a distance value. Insome cases, a distance estimate may be provided by a numeric value(e.g., 5 m, 10 m, 25 m, 50 m, 100 m, etc.). In other cases, the distanceestimate may be derived, for example, from a vector length, etc.Additionally, the distance estimate may be measured relative to variousorigins. For example, in some embodiments, a distance estimate providedto the navigational processor(s) may extend from a current position ofthe host vehicle to an intended onset of a particular target trajectorydirection indicated by a directional indicator. In some embodiments, theintended onset of the particular target trajectory indicated by thedirectional indicator includes at least one point along a road or roadsegment. For example, a distance estimate of 30 meters and acorresponding directional indicator of 10 degrees may indicate that at alocation approximately 30 meters ahead with respect to the hostvehicle's current position, the host vehicle should have a headingdirection bearing about 10 degrees to the right of its current headingdirection. In other embodiments, a distance estimate provided to thenavigational processor(s) may correspond to a target distance over whichthe host vehicle is intended to navigate with respect to a particulartarget trajectory direction. For example, a distance estimate of 10meters and a corresponding directional indicator of 0 degrees mayindicate that the host vehicle should have a heading direction of 0degrees relative to its current heading direction and should maintainthat heading for a distance of about 10 meters.

As another example, in an environment in which a road ahead of a hostvehicle includes at least two alternative drivable paths, a directionalindicator may be better aligned with a direction of a first segmentalong the first drivable path than any segment at or around the samedirectional indicator along the second drivable path. In such ascenario, the system may determine that the host vehicle should navigateto the first path. Further, in such a scenario, the directionalindicator may not fall on the intended onset.

FIGS. 40-43 illustrate example situations where image, directional, anddistance inputs can be used in generating a planned trajectory for ahost vehicle, according to exemplary disclosed embodiments. Asillustrated in FIG. 40 , an image captured of an environment of a hostvehicle (e.g., from a field of view forward of the host vehicle andwhich shows a curved road segment ahead of the host vehicle on a road onwhich the host vehicle is traveling) may represent an urban environmentincluding a roadway 4000 that curves generally to the left. A line ofcars 4001 obscures portions of a right edge of roadway 4000. As shown inthe image, a street 4002 crosses roadway 4000 at an angle of other than90 degrees. In such an environment, at least one navigational ambiguitymay exist regarding whether the host vehicle should continue alongroadway 4000 as it extends away and to the left of the host vehicle'scurrent position, whether the host vehicle should turn right onto street4002, or whether the host vehicle should turn left onto street 4002.

Such ambiguity may be resolved, for example, using the directionalindicators and distance estimates described above. For example, in thecurrent situation shown in FIG. 40 , a directional indicator 4004 may beprovided that suggests a directional heading for the vehicle at somepoint ahead of its current position and relative to its current headingdirection. For example, as shown, directional indicator 4004 mayindicate that the host vehicle should have a direction relative to itscurrent position as defined by angle 4005, which, as illustrated, may beapproximately −40 degrees relative to its current heading direction. Insome cases, a directional indicator suggesting a heading directiondifferent from a current heading direction of the host vehicle mayprovide valuable information for generating a planned trajectory for thehost vehicle, as it may indicate a directional change for the hostvehicle correlated to one or more road features that may be observed inthe captured images.

To provide even further context for the directional indication, adistance estimate 4006 may be provided to the navigational processor(s)indicating that a distance of 91 meters from the current position of thehost vehicle, the host vehicle should have an orientation of about −40degrees relative to its current heading direction. In other words, atarget trajectory direction for the host vehicle at approximately 91meters from its current location should be about −40 degrees relative toits current heading direction. Based on this information, a plannedtrajectory 4010 may be generated for the host vehicle, for example,using a trained system, such as a trained neural network (as describedin more detail in sections above and below). Planned trajectory 4010 maystrictly adhere to the directional indicator 4004 and distance estimate4006 or it may more loosely correspond to these values (e.g., by usingthese input values as suggestions or approximate targets). Regardless,directional indicator 4004 and distance estimate 4006 may serve to aidthe navigational processor(s) in resolving ambiguities regarding whichof the possible, valid routes available (as determined based on analysisof the received image(s) of the environment) the host vehicle shouldfollow.

In some embodiments, even a single directional indicator or a distanceestimate may be sufficient for assisting in resolving ambiguity andgenerating a planned trajectory for the host vehicle. In otherembodiments, additional directional indicators and/or distance estimatesmay be provided. For example, as shown in FIG. 40 , a second directionalindicator 4020 may be provided, and a second distance estimate 4021 mayalso be provided. In this example, directional indicator 4020 mayindicate a direction of 0 degrees relative to a current headingdirection of the host vehicle, and the distance estimate 4021 maysuggest a distance of 2 meters. Together, this information may convey tothe navigational processor(s) a suggestion that the host vehicle proceedstraight (e.g., substantially along its current heading direction) for adistance of 2 meters. In other words, distance estimate 4021 mayindicate that at a point 2 meters from a current location, the hostvehicle should have a heading of 0 degrees relative to its currentposition. In some embodiments, this information may convey thenavigational processor(s) a suggestion that the host vehicle proceedstraight (e.g., substantially along its current heading direction) at adistance (e.g., 2 meters) ahead of a current position to the hostvehicle, and the input to the trained system may be a heading of 0degrees. This may cause the trained system to output a plannedtrajectory for a road segment that is associated with an area around the2 meters virtual guidepost, which is generally straight (heading of 0degrees) relative to the host vehicle's current position. The distancemay be used as a “marker” or guidepost for a segment an area or a paththat is distinguishable from other paths. A segment may include afeature that is recognized or expected to be recognized by the trainedsystem as an area in real life and as distinguished from other segments.

Thus, the example shown in FIG. 40 for generating a planned trajectory4010, the navigational processor(s) may receive two directionalindicators 4004 and 4020 and two distance estimates. Together thesedirectional indicators and distance estimates provide navigationaltarget suggestions for the navigational processor(s) to enable thenavigational processor(s) (e.g., one or more trained systems, such asone or more trained neural networks implemented by the processor(s)) toresolve navigational ambiguities and generate a planned trajectory thattraverses a valid path along a roadway and which may be consistent withthe provided directional indicators and distance estimates. In theexample of FIG. 40 , the inputs to the navigational processor(s) maysuggest that at 2 meters from a current location, the host vehicleshould have a heading direction the same as or similar to its currentheading direction (e.g., “go straight for 2 m”), but at a locationapproximately 91 meters from a current location, the host vehicle shouldhave an orientation that is rotated about 40 degrees to the left of itscurrent heading direction. With this information, the navigationalprocessor(s) may generate a planned trajectory 4010 for the hostvehicle. In some cases, planned trajectory 4010 may comply exactly withthe provided directional indicators and distance estimates, especiallywhere such information is possible in view of road features detected orobserved based on analysis of the captured images and/or where suchinformation is consistent with navigational constraints placed on thehost vehicle (e.g., safety and/or comfort constraints) that may impactthe exact location of the planned navigational path. In other cases,planned trajectory 4010 may not exactly comply with the provideddirectional indicators and distance estimates, especially where, forexample, such values would violate one or more safety or comfortconstraints or would cause navigation into one or more regions that thenavigational processor(s) determine are not navigable (e.g., parked carlocations, curbs, walls, etc.) based on analysis of the captured images.

Once a planned trajectory has been generated, various controls may beimplicated in order to cause the host vehicle to navigate according tothe planned trajectory. For example, in some embodiments, thenavigational processor(s) may generate one or more control signals forcausing adjustment(s) to steering and/or braking actuators. Bycontrolling such actuators (or any others that may affect motion of thehost vehicle), the host vehicle can be caused to navigate according tothe planned trajectory. In some cases, such navigation may exactlyfollow the planned trajectory or segments of the planned trajectory. Inother cases, however, the planned trajectory may be used as a guide, andthe actual trajectory of the host vehicle may depart in one or moresegments from the planned trajectory. For example, the actual trajectorymay follow the planned trajectory within some specified tolerance forthe host vehicle navigation (e.g., within a variance of ±1%, ±5%, 10 cm,20 cm, etc.).

FIG. 41 illustrates another example of generating a planned trajectoryfor a host vehicle using directional indicators and distance estimatesto resolve navigational ambiguities. For example, as shown in FIG. 41 ,a road 4150 on which the host vehicle travels intersects at a “T”junction with another road 4151 that curves away ahead and to the leftand that also curves away ahead and to the right relative to the road onwhich the host vehicle travels. In such an example, there may benavigational ambiguity regarding at least which direction to turn on thecrossing road (left or right). As the captured image also lacks arepresentation of a road edge to the right of the host vehicle and lacksstandard lane markings in the portion of the road where the host vehicleis located, there may exist some navigational ambiguity regarding whatposition within the current road segment is most appropriate for thehost vehicle.

As illustrated in FIG. 41 , a first directional indicator 4101 and afirst distance estimate 4102 may be provided indicating that atapproximately 10 meters from the current position of the host vehicle,the host vehicle should have an orientation rotated to the rightrelative to its current heading direction. For example, directionalindicator 4101 may indicate a suggested heading direction of about 10degrees of rotation to the right of the host vehicle's current headingdirection. The supplied directional indicator and distance estimate mayindicate that before the host vehicle can make a turn onto road 4151, itmust first bear to the right to maintain an appropriate position withrespect to road 4150.

In the example illustrated by FIG. 41 , the navigational processors mayalso be supplied with a second directional indicator 4105 and a seconddistance estimate 4107. Together, this directional indicator/distanceestimate pair may suggest to the navigational processor(s) that atapproximately 31 meters from the current position of the host vehicle,the host vehicle should have an orientation rotated to the left relativeto its current heading direction. For example, directional indicator4105 may indicate a suggested heading direction of about −60 degrees ofrotation relative to the host vehicle's current heading direction. Thissupplied directional indicator and distance estimate may resolve anavigational ambiguity associated with whether to navigate to the leftor to the right on road 4151. For example, through analysis of one ormore captured images in view of directional indicator 4105 and distanceestimate 4107, the navigational processor(s) may determine that road4151 extends to the left of the host vehicle's current position. Thenavigational processor(s) may further determine that the curvature ofroad 4151, a location of a navigationally valid segment of road 4151,and/or a direction of road 4151 are consistent with directionalindicator 4105 and distance estimate 4107. That is, the navigationalprocessor(s) may determine that at a distance of about 31 meters fromthe host vehicle's current position, the host vehicle can assume aheading direction approximately −60 degrees relative to its currentheading direction, and such an orientation and position will positionthe host vehicle along a valid segment of road 4151 or at least closeenough to a valid segment of road 4151 to determine that anynavigational ambiguity relative to road 4151 should be resolved byturning left onto road 4151.

In the example shown in FIG. 41 , there are two pairs of directionalindicators and distance estimates provided to the navigationalprocessor(s). More or fewer pairs of directional indicators and distanceestimates, however, may be provided. For example, in some embodiments, athird directional indicator/distance estimate pair may correspond to asuggestion for navigating over a road segment that occurs before a roadsegment implicated by directional indicator 4101/distance estimate 4102(e.g., closer to the host vehicle than the road segment implicated bydirectional indicator 4101/distance estimate 4102). As an example, athird pair may indicate that after 5 meters of travel from the hostvehicle's current position, the host vehicle should have an orientationof 0 degrees relative to its current heading direction (“go straight”).Alternatively, in some embodiments, a third directionalindicator/distance estimate pair may correspond to a suggestion fornavigating over a road segment that occurs after a road segmentimplicated by directional indicator 4105/distance estimate 4107 (e.g.,farther from the host vehicle than the road segment implicated bydirectional indicator 4105/distance estimate 4107). For example, a thirdpair may indicate that at a position of about 75 meters relative to thehost vehicle's current position, the host vehicle should have anorientation of about −45 degrees relative to its current headingdirection.

Using directional indicators 4101 and 4105 and distance estimates 4102and 4107, the navigational processor(s) may analyze one or more imagescaptured of an environment of the host vehicle to identify in the one ormore images a representation of a road segments consistent with theprovided values. For example, the navigational processors may analyzethe images to determine whether a navigable road surface is present atthe distances suggested by the received distance estimates. Further, theprocessor(s) may determine through image analysis whether at thelocations suggested by the distance estimates (or in areas in thevicinity of the distance estimates) heading directions for the hostvehicle suggested by the directional indicators constitute valid targettrajectory directions. If so, a planned trajectory for the host vehiclemay be generated based, at least in part, upon the provided directionalindicators specifying target trajectory directions and on the distanceestimates associated with the provided directional indicators. In somecases, the generated planned trajectory for the host vehicle may extendalong a first road segment implicated by a first directionalindicator/distance estimate pair, a second road segment implicated by asecond directional indicator/distance estimate pair, a third roadsegment implicated by a third directional indicator/distance estimatepair, etc. A road segment implicated by a particular directionalindicator/distance estimate pair may include a location corresponding tothe distance estimate (e.g., in FIG. 41 , a distance 31 meters from thehost vehicle, as indicated by distance estimate 4107, may correspond toa location in a segment of road 4151 where the host vehicle may validlytravel in a direction specified by directional indicator 4105).

On the other hand, however, a road segment implicated by a particulardirectional indicator/distance estimate pair may not directly correspondspatially to a received directional indicator/distance estimate pair. Insome embodiments, a directional indicator/distance estimate pair mayrefer to a location where no navigable road segment exists or where thehost vehicle cannot validly travel along a road segment at the specifieddistance. For example, in some cases, a directional indicator/distanceestimate pair, such as indicator 4105 (of −60 degrees) and estimate 4107(of 31 m) may correspond to a location on the curb on the far side ofroad 4151. While such a location on the curb is not navigable by thehost vehicle, the navigational processor(s) can still navigate based onthe received directional indicator/distance estimate pair by using thispair effectively as an indication of intended course for the hostvehicle. Through image analysis, the navigational processors maydetermine that the received directional indicator/distance estimate paircorresponds to a location that would cause the host vehicle to drive onthe curb. But, the processor(s) would also determine from the receivepair an intent to navigate the vehicle to the left at an orientation of−60 degrees relative to its current position. While such a heading atapproximately 31 meters, as specified by distance estimate 4107, wouldresult in driving on the curb, the navigational processor(s) maydetermine from the image analysis that a segment of road 4151 located 28meters from a current position includes a navigable path consistent withthe −60 degree target trajectory direction specified by directionalindicator 4105. In such cases, the navigational processors may generatea planned trajectory for the host vehicle that traverses the navigablepath of the road segment recognized from the image analysis. Thegenerated planned trajectory 4160, therefore, may obtain the targettrajectory direction of −60 degrees relative to a current headingdirection at a distance of 28 meters from the current position ratherthan at 31 meters from the current position, as suggested by thedistance estimate 4107. In this way, the navigational processor(s) mayuse the received directional indicator/distance estimate pairs asguidelines or suggestions that convey navigational goals rather thanabsolute metrics to be achieved by the planned trajectories for the hostvehicle. In this way, the received directional indicator/distanceestimate pairs can operate as navigational suggestions that may berelied upon to resolve potential navigational ambiguities, and analysisof the captured images may enable the navigational processor(s) toidentify navigable road segments consistent with the navigationalsuggestions (even if the planned trajectory does not intersectparticular locations specified by the received directionalindicator/distance estimate pairs).

Indeed, an actual distance on a planned trajectory (relative to acurrent host vehicle location) where a particular target trajectorydirection specified by a received directional indicator is achieved mayvary significantly relative to a received distance estimate associatedwith the received directional indicator. In other words, a plannedtrajectory may be generated consistent with a one or more receiveddirectional indicator/distance estimate pairs even where the receiveddistance estimates do not correspond to locations of valid roadsegments. For example, in some cases, navigational ambiguities may beresolved and valid planned trajectories for a host vehicle may begenerated where an actual distance along the planned trajectory betweenthe current position of the host vehicle and an actual onset of a firsttarget directory direction differs from the first distance estimate byup to 50% of the first distance estimate. In other cases, navigationalambiguities may be resolved and valid planned trajectories for a hostvehicle may be generated where an actual distance along the plannedtrajectory between the current position of the host vehicle and anactual onset of a first target directory direction differs from thefirst distance estimate by up to 100% of the first distance estimate.

In some embodiments, a planned trajectory may be generated even where areceived directional indicator/distance estimate pair suggests only alocation of an intermediate location along an intended maneuver. Forexample, FIG. 42 shows a captured image including a representation of aroad 4200 and another road 4201 that crosses road 4200 at about 90degrees. As previously noted, at this junction between roads 4200 and4201, it may be possible for the host vehicle to continue straight onroad 4200, turn right on road 4201, or turn left on road 4201. In somecases, a left turn on road 4201 may be suggested by a receiveddirectional indicator/distance estimate pair indicating a targettrajectory direction of −90 degrees at an estimated distance from acurrent position of the host vehicle. In this case, a directionalindicator of −90 degrees may prompt the navigational processor(s) toanalyze the captured image(s) for a navigable path near the estimateddistance that would result in a left turn of the host vehicle (e.g., toachieve the −90 degree heading).

Such a left turn onto a 90 degree crossing road, however, need not bespecified by at −90 degree heading. Rather, the navigationalprocessor(s) may resolve the navigational ambiguity in favor of a leftturn onto road 4201 even where a directional indicator other than −90degrees is received. For example, in the example shown in FIG. 42 , afirst directional indicator 4205/distance estimate 4207 pair may suggestthat the host vehicle be traveling at a heading of 0 degrees at adistance of 20 meters. Next, a second directional indicator4208/distance estimate 4209 pair may suggest that the host vehicle betraveling at a heading of about −45 degrees at a distance of 35 metersrelative to a current position of the host vehicle. Based on thisinformation, the navigational processor(s) may analyze the capturedimage(s) and determine that a heading of −45 degrees at about 35 metersfrom the host vehicle's current location would correspond to a valid,navigable location along road 4200 consistent with initiation of a validleft turn onto road 4201. As a result, a planned trajectory 4260 may begenerated corresponding to a 90 degree left turn from road 4200 ontoroad 4201 even where the received directional indicator 4208/distanceestimate 4209 pair suggests a heading direction less than 90 degrees.

The disclosed system may also assist in resolving ambiguity andgenerating planned trajectories for complex road features. For example,FIG. 43 illustrates a captured image of a traffic circle 4301 having anentrance from road 4300 and an exit onto road 4302. The traffic circle,however, may include other entrances and exits. For example, trafficcircle 4301, as illustrated, includes another potential exit to theright and before road 4302 and may include one or more potentialentrances/exits occurring after road 4302 along a counterclockwisedirection of traffic circle 4301. As the host vehicle approaches trafficcircle 4301, a navigational ambiguity may exist with respect to whereand how to enter the traffic circle. Additionally, a navigationalambiguity may exist with respect to where and how the host vehicleshould exit from the traffic circle (e.g., which exit to take and whereon the unmarked pavement the host vehicle should travel, etc.). Suchambiguity may be resolved, for example, based on one or more receiveddirectional indicator/distance estimate pairs and analysis of availablecaptured images.

For example, in some embodiments, as the host vehicle approaches trafficcircle 4301, the navigational processors may receive a first directionalindicator 4305/distance estimate 4307 pair that may assist theprocessor(s) in determining an appropriate planned trajectory forentering the traffic circle. For example, first directional indicator4305/distance estimate 4307 pair may suggest that at a distance ahead ofabout 5 meters, the host vehicle should achieve a heading direction ofabout 45 degrees relative to its current heading direction. Next, thenavigational processors may receive a second directional indicator4308/distance estimate 4309 pair that may assist the processor(s) indetermining an appropriate planned trajectory for traversing the trafficcircle past a first possible exit from the traffic circle. For example,second directional indicator 4308/distance estimate 4309 pair maysuggest that at a distance ahead of about 25 meters, the host vehicleshould achieve a heading direction of about −45 degrees relative to itscurrent heading direction. Additionally, the navigational processors mayreceive a third directional indicator 4320/distance estimate 4321 pairthat may assist the processor(s) in determining an appropriate plannedtrajectory for exiting the traffic circle onto road 4302. For example,third directional indicator 4320/distance estimate 4321 pair may suggestthat at a distance ahead of about 68 meters, the host vehicle shouldachieve a heading direction of about −5 degrees relative to its currentheading direction. Using the three received directionalindicator/distance estimate pairs together with analysis of the capturedimage(s), the navigational processors can determine a planned trajectory4360 consistent with the received directional indicator/distanceestimate pairs and that traverses first, second, and third road segmentsidentified based on analysis of the captured image(s) in view of thereceived directional indicator/distance estimate pairs.

The disclosed system may be useful in resolving navigational ambiguitiesand for generating planned trajectories for a host vehicle relative tovarious other types of road features. For example, the system may relyupon received directional indicator/distance estimate pairs and imageanalysis (e.g., to identify navigable road segments consistent with thereceived directional indicator/distance estimate pairs) to generateplanned trajectories in driving situations involving exit lanes from ahighway, merge lanes onto a highway, adjacent lanes into which a hostvehicle is intended to enter, left turn lanes, right turn lanes, parkinglots, road junctions lacking lane markings, urban roads with obscuredroad edges, roads with incomplete or lacking lane markings, etc.

The navigational processor(s) may generate planned trajectories for thehost vehicle based on inputs in addition to received directionalindicator/distance estimate pairs. In some embodiments, for example, aplanned trajectory may be based on host vehicle speed, host vehicleacceleration, or any other suitable parameter value. In suchembodiments, at least one navigational processor may be programmed toreceive an indicator of a current speed of the host vehicle. With thisinformation, the analysis of the one or more images captured of the hostvehicle environment may further be performed in view of the indicator ofthe current speed of the host vehicle such that the identification inthe one or more images of a representation of a navigable road segmentmay be consistent with the indicator of the current speed of the hostvehicle. In such cases, the generation of the planned trajectory for thehost vehicle may be further based on the current speed of the hostvehicle. Similarly, at least one navigational processor may beprogrammed to receive an indicator of a current acceleration of the hostvehicle. With this information, the analysis of the one or more imagescaptured of the host vehicle environment may further be performed inview of the indicator of the current acceleration of the host vehiclesuch that the identification in the one or more images of arepresentation of a navigable road segment may be consistent with theindicator of the current acceleration of the host vehicle. In suchcases, the generation of the planned trajectory for the host vehicle maybe further based on the current acceleration of the host vehicle.

Returning to FIG. 42 , one example of using current speed and/or currentacceleration to generate a planned trajectory for a host vehicle mayagain begin with received directional indicator/distance estimate pairs.In this example, the directional indicator 4208/distance estimate 4209pair may suggest that at about 35 meters from a current position of thehost vehicle, the host vehicle should achieve a heading direction ofabout −45 degrees with respect to a current heading direction. Asdescribed above, such a received directional indicator/distance estimatepair may suggest that the host vehicle is to initiate a left turn inapproximately 35 meters or earlier. The navigational processor(s) mayanalyze one or more captured images to seek navigable road segmentsconsistent with the received directional indicator/distance estimatepairs. In some cases, the navigational processor(s) may identifycrossing road 4201 that crosses road 4200 at about 25 meters ahead of acurrent position of the host vehicle. The processor may furtherdetermine that a second road (not shown) crosses road 4200 at a distanceof about 45 meters ahead of the current position of the host vehicle.Thus, there may be navigational ambiguity regarding whether to turn ontoroad 4201 or the more distant crossing road. And, while the receiveddirectional indicator/distance estimate pair suggesting a left turn atabout 35 meters may provide an initial hint/indication of an intent tocause the host vehicle to turn left, the received directionalindicator/distance estimate pair may not unambiguously indicate theparticular road onto which the left turn should be made. In fact, inthis example, the suggested orientation of the host vehicle at 35 metersmay indicate a left turn at a location that is equidistant from road4201 at 25 meters and the more distant crossing road at 45 meters. Insuch cases, it may be useful for the navigational processor(s) to sampleand consider the current speed and/or acceleration of the host vehicle.With this information and analysis of the captured images to determinedistances to the crossing streets onto which a left turn may be viable,the navigational processor(s) may determine that the host vehicle istraveling at a current speed that is too high for safely deceleratingand turning onto crossing street 4201 at 25 meters. The processor(s) maydetermine, however, that there is sufficient time and space to safelydecelerate the host vehicle to a level suitable for turning left ontothe more distant crossing street at 45 meters. Thus, a plannedtrajectory may be generated that avoids a left turn onto the closercrossing street and, instead, makes a left turn onto the more distantcrossing street.

In some instances, a particular directional indicator/distance estimatepair may appear to suggest more than one potential navigation solution.For example, in a situation where a road passes two crossing streets inclose proximity (e.g., one at 20 meters from a current location and theother at 40 meters from a current location), a directionalindicator/distance estimate pair of 90 degrees and 25 meters may suggesta right turn at a location occurring between the available crossingstreets that the processor identifies in captured images. In such asituation, however (as described above), the processor(s) may select thesolution that more closely agrees with the suggestion made by thedirectional indicator/distance estimate pair. Thus, in this example andif the host vehicle is not traveling at a rate of speed or at anacceleration level that precludes a turn onto the closer crossing streetat 20 meters, the processor(s) may generate a planned trajectory thatincludes a turn onto the closer street as it more closely agrees withthe received directional indicator/distance estimate pair.

In some cases, the received directional indicator/distance estimate pairmay suggest a maneuver that corresponds equally to two different roadsegments identified in one or more captured images. Continuing with theexample above, a received directional indicator/distance estimate pairmay suggest a right turn at a location 30 meters from a currentposition. In this case, if both the crossing street at 20 meters and thecrossing street at 40 meters are identifiable in one or more capturedimages (and that the speed/acceleration/or other characteristic of thehost vehicle does not favor one crossing street over the other), theprocessor may reach the conclusion that both crossing streets serve asviable navigational solutions for the suggested right turn. In suchcases, the processor may break the tie using any suitable technique(e.g., a random number generator, etc.). In other cases, theprocessor(s) may break the perceived tie by looking for additionalinformation. For example, the processor(s) may further analyze thecrossing streets to determine whether there are any distinguishingfeatures of the crossing streets that may suggest a turn onto one streetversus the other (e.g., whether one of the streets is a driveway versusa through road; whether one road is paved and the other is not, etc.).Additionally or alternatively, the processor(s) may look to subsequentdirectional indicator/distance estimate pairs to determine whether suchsubsequent pairs fit better with identifiable features (e.g., based onimage analysis or by referencing stored map data, etc.) associated withone street more than another. For example, after the right turnsuggested by the first directional indicator/distance estimate pair, asecond directional indicator/distance estimate pair may suggest a leftturn after 15 meters. Based on image analysis, or references to storedmap information, etc., the processor(s) may determine that while bothcrossing streets appear to fit the first received directionalindicator/distance estimate pair equally well, only the second crossingstreet would be consistent with a subsequent left turn after about 15meters. In such cases, the processor(s) may use this additional analysisto select the appropriate road segments for navigation and generate aplanned trajectory traversing those selected road segments.

As another example, the same (or similar) directional indicator anddistance estimate (e.g., a direction indicator/distance estimate pair)in two different scenarios or environments may yield entirely differentpaths when the road features in the different scenarios have differingstructures (e.g., roads directed in different directions, roads with adifferent number of travel lanes, etc.). For example, the distanceestimate may indicate to the system to look for valid paths at or arounda specified distance from the host vehicle. The system may further checkfor valid paths at or around the specified distance at which the vehiclewill achieve the specified orientation (e.g., specified by thedirectional indicator). That is, in some embodiments, the processor mayuse a distance estimate as a cue for where to look in a captured imageto determine viable road segments in a zone around a target area.Accordingly, the same (or similar) distance estimate and directionindicator may be used to resolve two entirely different scenarios,including scenarios in which the actual desired trajectory is completelydifferent between the scenarios. Using the same (or similar) directionalindicator and distance estimate, the system may provide differentpredicted paths having entirely different layouts, according to thelayout of the road (or drivable paths) ahead of the host vehicle.However, in these examples, the same (or similar) directional indicatorand distance estimate may serve equally well for both scenarios.

Optionally, other characteristics of the host vehicle may be used toidentify navigable roads in a captured image. For example, specificvehicle braking characteristics may be considered when determiningwhether a suggested turn can safely be made subsequent to a decelerationof the host vehicle. Other considerations may also be relied upon. Forexample, in some cases, the speeds of one or more target vehiclesdetected in an environment of the host vehicle (e.g., in one or morelanes adjacent to a lane of travel of the host vehicle) may be usedtogether with a distance estimate to a suggested lane crossing todetermine a planned trajectory that maintains safe buffer distances fromthe detected target vehicles.

The directional indicator/distance estimate pairs provided to the one ormore navigational processor(s) may originate from various sources. Insome embodiments, such inputs may be derived from the outputs of one ormore route planners, outputs of automated navigational programs, usercontrol outputs (e.g., joysticks), or may be derived from stored mapinformation. Using these outputs or stored information (which on theirown may be insufficient for generating planned trajectories for anautonomous vehicle), one or more processors may derive directionalindicators and distance estimates for the host vehicle corresponding toan intended maneuver (e.g., “turn right in 50 meters” or “take the thirdexit at the traffic circle,” as may be output from an automatedGPS-based navigation program). For example, such automated programs mayprovide insufficient information for entering a traffic circle,navigating around a traffic circle, and achieving a suitable orientationfor exiting at an intended location from the traffic circle. The deriveddirectional indicators and distance estimates may be compared to one ormore captured images, and the navigational processor(s) may determinewhether navigable road segments exist that are consistent with andavailable for performing a maneuver suggested by the derived directionalindicators and distance estimates. Upon identifying available roadsegments for completing maneuvers suggested by the received directionalindicator/distance estimate pairs, a planned trajectory for the hostvehicle may be generated that traverses the road segments identifiedthrough analysis of the captured images.

In the embodiments described above, one or more directionalindicator/distance estimate pairs are used to identify valid roadsegments in captured image(s). Then, a planned trajectory for the hostvehicle may be generated that links the identified road segments. Othertypes of input to the navigational processor(s), however, may be usedfor identifying viable road segments and for generating a plannedtrajectory for a host vehicle. For example, in some embodiments, as analternative to supplying the navigational processor(s) with directionalindicator/distance estimate pairs, more complex inputs may be provided.In some cases, for example, a three-dimensional polynomial splinerepresenting a target trajectory for a host vehicle may be supplied tothe navigational processor(s). Such splines may be similar to or thesame as the splines described above that may be generated based on crowdsourcing of actual vehicle trajectories along various road segments andthat may be stored as part of a sparse map 1900 for assisting innavigation of an autonomous vehicle.

In such embodiments, at least one navigational processor may receive,from a camera, one or more images representative of an environment ofthe host vehicle. The processor may also receive a representation of athree-dimensional spline defining a target trajectory for the hostvehicle. With these inputs, the processor may analyze the one or moreimages in view of the received representation of the three-dimensionalspline to determine whether the target trajectory defined by thethree-dimensional spline is consistent with road segments identifiedbased on the analysis of the one or more captured images representing anenvironment of the host vehicle. If the target trajectory is consistentwith the identified road segments, the processor may cause at least oneadjustment of a navigational actuator of the host vehicle to cause thehost vehicle to navigate relative to the target trajectory. As notedabove, navigation relative to the target trajectory may result in anactual trajectory of the host vehicle exactly following the targettrajectory path. In other cases, however, the actual trajectory maydiffer from the target trajectory (e.g., by some variance or operationaltolerance of the navigational system).

On the other hand, if the target trajectory is not consistent with theidentified road segments (e.g., if the received spline suggests that thehost vehicle is to navigate onto a curb or other invalid region), theprocessor may generate a planned trajectory for the host vehicle, basedat least in part on the target trajectory, such that the plannedtrajectory is made to extend along at least a some of the identifiedroad segments and cause at least one adjustment of a navigationalactuator of the host vehicle to cause the host vehicle to navigaterelative to the planned trajectory. In other words, the processor mayuse the received target trajectory as a guide (and may even replicatethe received target trajectory in a generated planned trajectory), butmay displace the planned trajectory from the target trajectory by someamount (or through a transformation) such that the planned trajectorytraverses valid road surfaces identified based on the image analysisperformed by the navigational processor(s) on the one or more capturedimages.

Not only may such an embodiment result in refined planned trajectories(e.g., trajectories that correspond to or relate to the receivedthree-dimensional splines representing a desired path for a vehicle onone or more road segments), but such an embodiment may also be able toconfirm whether the localization function described above (e.g.,navigating based on sparse maps and recognized landmarks) isoperational. For example, if the processor determines that a receivedspline is not consistent with road segments identified in one or morecaptured images, the processor may determine that the sparse mapnavigation operation is not functioning properly. In this way, thenavigational system may serve as a check for the sparse map navigationsystem to ensure redundancy and safe operation even where the sparse mapnavigation may experience uncertainty in the localization function, forexample. Additionally, by determining an amount that a received splinemust be translated or transformed for consistency with road segmentsobserved in the one or more captured image(s), the processor maydetermine a magnitude of error in the sparse map navigation system(e.g., an amount of error in the localization function) and may prompt asuitable correction. In some cases, an observed error result not fromany operation of the navigational system, but rather from a physicalchange in one or more road segments. In such cases, the observeddisparity between a received spline and observed road segmentsidentified in the captured images may be used to prompt an upload ofcollected visual and trajectory information and an update to the storedsparse map.

As described above, the planned trajectories generated for the hostvehicle may be provided by one or more learning systems, such as atrained neural network. For example, a learning system, such as a neuralnetwork may be trained using a plurality of images of actual roadsegments collected during actual drives over the road segments. Inaddition to the visual information collected from these drives, otheractual drive data may also be accumulated for the road segments and usedto train the neural network. For example, actual trajectories of manyvehicles may be recorded and overlaid with the collected images asexamples for the neural network of available paths for correspondingimaged road segments. Moreover, direction intention tags may also berecorded and provided to the neural network to train the network onviable paths corresponding to various intended directional maneuvers. Inthis way, when the trained neural network encounters a directionalindicator and distance estimate suggesting the initiation of a left turnmaneuver at a certain distance from a current position, the neuralnetwork may be able to rely upon many examples (e.g., hundreds,thousands, or millions of similar situations) provided during trainingon which it can rely to generate a planned trajectory consistent withthe paths taken by other vehicles in similar situations upon which thenetwork was trained.

In some cases, the neural network may be trained using actual drive databut intentionally erroneous distance tag information corresponding tointended maneuvers. For example, in cases where actual vehicles wererecorded making left turns at a certain intersection, the neural networkcan be provided with tags indicating a left turn intention, but may alsobe supplied with distance information reflecting errors in where therecorded cars initiated the left turn maneuvers. Using such a techniqueof training a neural network in view of intentionally introduced errorsmay enable the network to better predict planned trajectories for a hostvehicle based on a range of distance estimate values that do notdirectly correspond to observed road segments in a captured image. Forexample, such a trained network may successfully generate a plannedtrajectory including a left turn for a vehicle at an intersection thatoccurs at 50 meters ahead of a current position even where a supplieddistance estimate suggests a left turn at 25 meters, 40 meters, 60meters, 75 meters, etc.

The network may also be trained on a range of different cameras withdifferent fields of view. Such training can support different types ofdriving, for example, sharp curves as opposed to driving straight athigher speeds.

Navigation in Vehicle Crossing Scenarios

Many vehicles, whether employing an advanced driver assist system or amore fully autonomous system, may be configured to identify certainsituations in which the host vehicle has a planned trajectoryintersecting or overlapping with a projected trajectory of one or moretarget vehicles. In such situations, one or more host vehicle systemsmay take an action. For example, a system may provide a warning to anoperator/driver of the vehicle (e.g., audible, visual, etc.). In somecases, the system may determine one or more navigational actions to takeand cause actuation of vehicle systems in order to perform thenavigational action(s) (e.g., automatic braking, steering of thevehicle, etc.). The navigational action may be determined and enacted inorder to enable the host vehicle to avoid a collision with the targetvehicle.

FIG. 44A provides a diagrammatic illustration of a driving scenario(e.g., a left turn across path (LTAP)) involving a host vehicletrajectory crossing a trajectory of a target vehicle in a right lanedriving jurisdiction. Such jurisdictions may include, for example, theUnited States, Germany, France, Canada, etc. In this scenario, hostvehicle 4402 is planning to make a left turn through an intersectionalong a path that crosses a projected trajectory of target vehicle 4404.In this scenario, the navigational system may be configured to take anaction if, for example, a collision risk is determined to exist betweenthe host vehicle and the target vehicle. Such actions may include, amongothers, issuing an audible warning to a driver of the host vehicle,issuing a visual warning to a driver of the host vehicle, issuing acontrol signal to cause actuation of the host vehicle brakes to slow orstop the host vehicle, issuing a control signal to cause actuation ofthe host vehicle throttle system to avoid an increase in speed of thehost vehicle, etc. Such a determination of whether a collision riskexists between the host vehicle and the target vehicle may depend onwhether the planned trajectory 4412 of the host vehicle crosses aprojected trajectory 4414 of the target vehicle, as shown in FIG. 44A.Such a determination, however, may also depend on other information,such as current velocities of the host and target vehicles; a currentlateral offset between the host and target vehicle; a currentlongitudinal offset between the host and target vehicle; a directionand/or projected path of the host vehicle during a desired navigationalmaneuver intended to further the navigational goals of the host vehicle(e.g., driving along a path toward an intended destination); adetermined, expected collision point between the host vehicle and thetarget vehicle based on current trajectory information; any combinationof these parameters or any other suitable parameters. Such informationmay be derived based on the outputs of various sensors, including, e.g.,one or more cameras, LIDAR systems, RADAR, etc.

FIG. 44B provides a diagrammatic illustration of a driving scenario(e.g., a right turn across path (RTAP)) involving a host vehicletrajectory crossing a trajectory of a target vehicle in a left lanedriving jurisdiction. Such jurisdictions may include, for example, GreatBritain, Japan, Ireland, etc. In this scenario, a host vehicle 4450 isplanning a right turn that crosses the projected trajectory of targetvehicle 4452. Similar to the scenario of FIG. 44A, an action may betaken by the host vehicle navigation system (e.g., issuing a warning,braking, etc.) if the host vehicle navigation system determines that acollision risk exists between the host vehicle and the target vehicle,based on the planned trajectory 4460 of the host vehicle, the projectedtrajectory 4462 of the target vehicle, and any of the other sources ofinformation described above with respect to FIG. 44A.

In both the scenarios represented by FIGS. 44A and 44B, the host vehiclenavigation system would be expected to take an action (e.g., issue awarning, brake, etc.) where at minimum two conditions existed: that theplanned trajectory of the host vehicle was determined to cross aprojected (e.g., an estimated) trajectory of the detected targetvehicle, and that a potential collision would result if the host vehiclewas to follow the planned trajectory across the projected trajectory ofthe target vehicle. For example, the potential collision may bedetermined based on a timing at which the planned trajectory will crossthe projected trajectory of the target vehicle. This may be based on,for example, a determined speed of the target vehicle, a determinedacceleration of the target vehicle, a current and/or planned speed oracceleration of the host vehicle, etc. In some cases, the host vehiclenavigation system may also take such actions if following the plannedtrajectory by the host vehicle would result in impingement upon a safetyor comfort envelope with the detected target vehicle even if adetermination is made that no collision would result between the hostvehicle and the target vehicle.

Other driving scenarios involving a host vehicle and a detected targetvehicle may also be expected to result in an action taken by the hostvehicle navigation system (e.g., issuing a warning, braking, etc.). Forexample, as shown in FIG. 45A, a host vehicle 4502 in a right lanedriving jurisdiction is approaching a detected target vehicle 4504.Target vehicle 4504 is in the process of passing vehicles 4506 and,therefore, is currently driving toward host vehicle 4502 in the samelane as host vehicle 4502. In such a case, a navigation system of hostvehicle 4502 would be expected to take an action (e.g., issuing awarning, braking, etc.) if a potential collision is determined to belikely to occur relative to detected target vehicle 4504. Such adetermination may be made, for example, at a time during which a currentprojected trajectory 4508 extends toward host vehicle 4502. Such anaction may be canceled or not taken, for example, if a projectedtrajectory 4512 of the target vehicle extends away from a plannedtrajectory of the host vehicle (e.g., is not expected to intersect withthe trajectory of the host vehicle).

FIG. 45B represents a scenario similar to the scenario of FIG. 45A, butlocated in a left lane driving jurisdiction. In this scenario, adetected target vehicle 4552 is in the process of passing vehicles 4556.Target vehicle 4552 is driving toward host vehicle 4550 in the same laneof travel as host vehicle 4550. Similar to the scenario represented byFIG. 45A, a navigational system of host vehicle 4550 would be expectedto take at least one action (e.g., issuing a warning, braking, etc.) ifthe planned trajectory of host vehicle 4550 overlaps with the trajectoryof target vehicle 4552 or if a potential collision is otherwisedetermined to exist between host vehicle 4550 and target vehicle 4552.As in the scenario of FIG. 45A, an avoidance action may be canceled ornot taken, for example, if a projected trajectory of the target vehicleextends away from a planned trajectory of the host vehicle (e.g., is notexpected to intersect with the trajectory of the host vehicle).

FIG. 46A provides a diagrammatic illustration of another drivingscenario involving a host vehicle trajectory overlapping with atrajectory of a target vehicle in a right lane driving jurisdiction. Inthis scenario, a host vehicle 4602 is located in a left-hand turn laneand plans to make a left-hand turn into lane 4606. Opposite theintersection, a detected target vehicle 4604 is also located in aleft-hand turn lane and plans to make a left-hand turn into lane 4608.For at least a portion of time during which both the host vehicle andthe target vehicle initiate their respective left-hand turns, bothvehicles may be travelling along trajectories toward one another in ahead-on scenario. As described relative to FIGS. 45A and 45B, where ahost vehicle has a planned trajectory that intersects with a targetvehicle or overlaps with (or crosses, as in FIGS. 44A and 44B) aprojected trajectory for a target vehicle, the navigation system isexpected to take at least one remedial action (e.g., issuing a warning,braking, etc.). In the scenario of FIG. 46A, at the initiation of therespective left-hand turns of the host vehicle and the target vehicle,the initial trajectories 4610 and 4612 may be toward one another. As aresult, under normal circumstances, a navigation system of host vehicle4602 may determine that there is a risk of collision and may take aremedial action. In the scenario of FIG. 46A, however, the navigationsystem of host vehicle 4602 may forego any remedial action and may allowhost vehicle 4610 to proceed, without action, through the intersectionand into lane 4606. Such a determination to forego a remedial action inthe scenario of FIG. 46A may be based on a number of factors determinedbased on sensor input (e.g., images acquired from cameras (onboard orotherwise), LIDAR, RADAR, etc.). For example, the navigation system ofhost vehicle 4602 knows that the planned trajectory of host vehicle 4602does not continue along a path expected to cross or overlap with targetvehicle 4604 or a projected trajectory of target vehicle 4604. Rather,the navigation system of host vehicle 4602 knows that the plannedtrajectory of host vehicle 4602 will, at a certain point, shift awayfrom initial trajectory 4610 and follow a path 4620 that diverges fromthe observed trajectory and/or the projected (estimated) trajectory oftarget vehicle 4604.

The navigation system of host vehicle 4602 may be able to forego aremedial action in this scenario based primarily upon that information.In other cases, however, additional information may further confirm adecision to forego a remedial action. Such information may includesensor inputs (e.g., acquired images, LIDAR, RADAR, etc.) indicatingthat the target vehicle trajectory has diverged from initial trajectory4612 and is continuing along a new projected trajectory 4622 that doesnot cross a trajectory of the host vehicle. The decision to forego aremedial action may also be aided by information such as a detectedlocation of the target vehicle in a turn lane. For example, acquiredimages, LIDAR, RADAR, etc. may indicate that the target vehicle is in amiddle lane between two lanes of normal travel, that the target vehiclein a lane that is not an outside most lane, that the target vehicle in alane directly opposite of the lane in which the host vehicle residessuggesting that the target vehicle does not intend to proceed straightthrough the intersection and into the path of the host vehicle, etc.This may be especially true where the host vehicle navigation systemrecognizes the host vehicle position as residing in a turn lane and thatthe detected target vehicle resides in a lane across the intersectionand opposite to the turn lane in which the host vehicle resides (e.g., aclue that the target vehicle also resides in a turn lane). Thisinformation may also suggest that no remedial action is expected orneeded if the navigation system understands that opposing lanes in anintersection do not represent valid driving paths across theintersection.

FIG. 46B provides a diagrammatic illustration of a driving scenarioinvolving a host vehicle 4652 and a target vehicle 4654 both traversingan intersection and both making right-hand turns in a left lane drivingjurisdiction. The scenario of FIG. 46B is the counterpart scenario tothe FIG. 46A scenario, except in a left lane driving jurisdiction.

Other scenarios, however, may exist in which the situation may be moreambiguous to the navigation system of a host vehicle. Such situations,for example, may involve a determination that a planned trajectory for ahost vehicle overlaps with a current, observed or projected (estimated)trajectory of a target vehicle. In normal situations, which may includeLTAP or RTAP situations, a navigation system of a host vehicle may beexpected to take a remedial action to issue a warning, cause vehiclebraking, etc. In other cases, however, it may be desirable for thenavigation system of a host vehicle to forego such a remedial action

FIG. 47 provides a diagrammatic illustration of a driving scenarioinvolving a planned trajectory for a host vehicle 4702 intersecting witha current trajectory of a target vehicle 4704 in a right lane drivingjurisdiction. FIG. 48 provides a perspective illustration of the drivingscenario represented by FIG. 47 . For example, at the current locationof host vehicle 4702, a navigation system of the host vehicle may knowthat a planned trajectory 4710 for the host vehicle continues straightfor a short distance and then bends to the right before bending to theleft in order to follow lane 4712.

At its current location, however, the navigation system of host vehicle4702 may determine that detected target vehicle 4704 has a currentmotion indicative of a projected or estimated trajectory 4714 thatextends in a straight line from the current location of target vehicle4704. As a result, the navigation system of host vehicle 4702 maydetermine that its own planned trajectory 4710 crosses the projectedtrajectory of the target vehicle at a point 4718. Such an intersectionof the planned trajectory of the host vehicle and the detected targetvehicle suggests a need for a remedial action by the navigational systemof host vehicle 4702 (e.g., issuing a warning, braking, etc.), as in thecases of the scenarios represented in FIGS. 44A-45B, for example.

The scenario of FIG. 47 and FIG. 48 , however, is one in which both thehost vehicle and the target vehicle are both traveling in theirrespective lanes, and assuming both continue to travel in theirrespective lanes (the host vehicle along its trajectory 4710 and thetarget vehicle traveling along its actual trajectory 4716), there willbe no crossing of trajectories and no danger of collision. Thus, in suchcases, it may be desirable for the host vehicle navigation system toforego any remedial action, even where it appears to the host vehiclenavigation system, at its current location, that such a crossing oftrajectories is likely.

There may be several information sources on which a navigational systemof host vehicle 4702 may rely in determining to forego a remedial actionin a perceived turn-across-path situation (e.g., a RTAP (right turnacross path) situation in right lane driving jurisdictions, as shown inFIGS. 47 and 48 , or in a counterpart LTAP situation in a left lanedriving jurisdiction). For example, in some cases, the navigation systemof host vehicle 4702 may determine a location of the host vehicle basedon an output of a GPS sensor, for example, or based on any other sourceof information upon which a vehicle location may be determined. Based onthe determined vehicle location, the navigation system may determinewhether the vehicle location is associated with a right lane drivingjurisdiction (e.g., the U.S., Canada, France, Germany, etc.) or whetherthe vehicle location is associated with a left lane driving jurisdiction(e.g., Great Britain, Ireland, Japan, etc.). In some cases, thislocation information along with the associated driving convention may besufficient, on its own, to forego a remedial action. For example, if thehost vehicle navigation system determines that the host vehicle islocated in a right lane driving jurisdiction, then the navigation systemmay determine that a projected RTAP situation may not correspond with avalid driving action on the part of the target vehicle. Referring toFIG. 48 , while there is a potential RTAP event detected at point 4718,a collision would result only if the target vehicle 4704 disobeyeddriving convention and left its lane. Indeed, the host vehiclenavigation system may be configured such that a detected RTAP event in aright lane driving jurisdiction and for an oncoming traffic situationmay be assumed, at least initially, as one not requiring remedial action(as right turns across paths of oncoming vehicles is not a situationtypically associated with normal driving in a right lane drivingjurisdiction). Therefore, as at least a first action, the host vehiclenavigation system may forego a remedial action. Host vehicles in a leftlane driving jurisdiction may take a similar approach when confrontedwith LTAP situations involving oncoming traffic. Note that the sameassumption is likely is not valid when the target vehicle is travellingin a crossing lane the host vehicle is planning to enter.

In some cases, a decision to forego a remedial action in a situationsuch as the one represented by FIGS. 47 and 48 may depend on additionalinformation. For example, in addition to information regarding thelocation of the host vehicle (and whether the location is in a left orright lane driving jurisdiction), other information may be automaticallyderived from various sensor outputs associated with the host vehicle.Based on analysis of images acquired from one or more cameras, pointclouds associated with LIDAR outputs, etc., the navigation system of ahost vehicle may determine which lane on a roadway a target vehicle istraveling.

The navigation system may determine whether a target vehicle istraveling in a lane adjacent to an expected/correct road edge (e.g.,adjacent to a curb, shoulder, etc., of a lane other than a lane in whichthe host vehicle travels). For example, relative to the scenario of FIG.48 , the host vehicle navigation system may determine that targetvehicle 4704 is traveling in a right lane of the road, based on analysisof acquired images or LIDAR showing an open lane to the right of thetarget vehicle 4704. In such instances, the host vehicle navigationsystem may determine that there is sufficient room on the right side ofthe target vehicle to pass by the target vehicle in a right lane drivingjurisdiction.

The navigation system may also identify in acquired images, LIDARoutput, etc. the existence on the roadway of one or more lane markings.Such markings (like centerline 4810 of FIG. 48 ) may indicate anupcoming shift in the roadway. For example, in FIG. 48 , analysis ofacquired images, LIDAR, etc. may enable the navigation system of thehost vehicle to determine that centerline 4810 curves to the right andthen to the left, indicating a bend in the road ahead of the hostvehicle. This information, coupled with an expectation that the targetvehicle will obey road markings and remain on the correct side of thecenterline, may enable the navigation system to determine that noremedial action is required in the scenario of FIG. 48 .

Any of the foregoing information may be used in any combination togetheror separate from other information such as sensed or determinedhost/target vehicle speed, host/target lateral offset, host/targetvehicle turn direction, and/or potential collision point between hostand target in determining whether to initiate a remedial action.

Additional information may be used by a navigation system of the hostvehicle to determine whether to cause a remedial action by the hostvehicle or whether to forego such a remedial action. For example, atrained system, such as the system described above in the “EstimatingFuture Paths” section may be capable of recognizing the scenarioillustrated in FIG. 48 . Such a system may recognize available room forthe host vehicle to pass by the target vehicle when traversing theroadway along a predicted path of the host vehicle and according to adriving convention of the jurisdiction in which the host vehicle islocated. Such systems may also augment the remedial action analysis byrecognizing/detecting road edges, mapping the road edges, and/orotherwise using detected road edge locations in determining the path ofa road on which a host vehicle travels. Such information may be usefulin determining the presence of an upcoming curve in the road, as shownin FIG. 48 , and the availability of room to pass by a detected targetvehicle without issuing a remedial action.

A host vehicle navigation system may also rely on augmented pathprediction information in determining whether to issue a remedialaction. For example, as described above in the “Navigation by AugmentedPath Prediction” section, a navigation system may rely upon navigationalhints to resolve ambiguities in determining an available trajectory forthe host vehicle. Such hints, for example, may indicate that in 40meters, a host vehicle is to be traveling along a direction that is 60degrees to the right of a current trajectory. Such information mayenable a host vehicle navigation system, when confronted with a sensedenvironment as represented by FIG. 48 , to determine that a right-handbend in the road exists about 40 meters ahead of the host vehicle. Withsuch information, the navigation system may determine that the detectedtarget vehicle is on the other side of the bend in the road and isheading toward a complementary right-hand bend in the road. As a result,the navigation system may determine that the detected target vehicle maypass safely by the host vehicle and, therefore, a remedial action is notrequired.

Similarly, a navigation system of the host vehicle may rely, at leastpartially, upon sparse map information and principles of navigationbased on such sparse maps (as described in the sections above) in orderto determine whether a remedial action is appropriate. For example, asparse map (and a target trajectory for the host vehicle defined by apolynomial spline associated with the sparse map) may indicate that in40 meters, the host vehicle is expected to be traveling through aright-hand bend in the road (as represented by a right hand bend in thetarget trajectory for the host vehicle). Such information may enable ahost vehicle navigation system, when confronted with a sensedenvironment as represented by FIG. 48 , to determine that a right-handbend in the road exists ahead and that the detected target vehicle willalso be traversing a similar bend in the road. As a result, thenavigation system may determine that the detected target vehicle maypass safely by the host vehicle and, therefore, a remedial action is notrequired.

FIG. 49 is a flow chart showing an exemplary process 4900 for autonomousnavigation in vehicle crossing scenarios consistent with the disclosedembodiments. Process 4900 may be performed by at least one processingdevice, such as processing unit 110, which may use one of or both ofapplication processor 180 and image processor 190 to implement process4900.

At step 4910, process 4900 may include receiving, from a camera, one ormore images representative of an environment of the host vehicle. The atleast one image may be received from an image capture device consistentwith this disclosure, including, for example, image acquisition unit120, as described above. Accordingly, the images may represent anenvironment of vehicle 200. In some embodiments, the at least one imagemay be an image obtained from a RADAR, a LIDAR, or any other device fromwhich an image may be obtained, whether optical or otherwise.

At step 4920, process 4900 may include identifying, based on analysis ofthe one or more images, an oncoming target vehicle in the environment ofthe host vehicle. For example, the oncoming target vehicle maycorrespond to target vehicles 4404, 4452, 4504, 4552, 4604, 4654, and/or4704, as discussed above. The oncoming target vehicle may be associatedwith a projected trajectory of the oncoming target vehicle, theprojected trajectory being indicated by at least one aspect of arepresentation of the oncoming target vehicle in the one or more images.For example, the projected trajectory may be based on a current headingdirection of the target vehicle, as represented in the one or moreimages. Accordingly, process 4900 may further include determining aheading direction of the target vehicle based on analysis of the one ormore images.

At step 4930, process 4900 may include determining that a plannedtrajectory for the host vehicle crosses the projected trajectory of theoncoming target vehicle and is indicative of a potentialturn-across-path event. As described above, the planned trajectory forthe host vehicle may be determined in various ways. In some embodiments,processing unit 110 may further be configured to determine the plannedtrajectory of the host vehicle based on analysis of the one or moreimages to determine free space associated with a road. For example,processing unit 110 may determine free space ahead of vehicle 200 andthe planned trajectory may represent a route for navigating vehicle 200through the free space. In some embodiments, processing unit 110 mayfurther be configured to determine the planned trajectory of the hostvehicle based on a heading direction of the host vehicle for apredetermined distance ahead of the host vehicle. For example, processor100 may assume that the host vehicle will maintain the same headingdirection for a predetermined distance (e.g., 1 m, 2 m, 5 m, 10 m,etc.). In other embodiments, processing unit 110 may further beconfigured to determine the planned trajectory of the host vehicle basedon a stored spline associated with a map. For example, the stored splinemay be associated with a sparse map or other navigation model associatedwith vehicle 200. The stored spline may be accessed locally from withina memory of vehicle 200, or may be accessed from a server (e.g., server3400). The potential turn-across-path event may be any event in whichthe projected path of the target vehicle and the planned path of thehost vehicle intersect. For example, the turn-across-path event may be aRTAP (right turn across path) event or LTAP (left turn across path)event, as discussed above, or similar events.

At step 4940, process 4900 may include determining a remedial action forthe host vehicle in response to the oncoming target vehicle and thepotential turn-across-path event. The remedial action may be an actiondetermined by processing unit 110 that will avert or remediate acollision between host vehicle 200 and the target vehicle. In someembodiments, the remedial action may include braking of the hostvehicle. For example, the host vehicle may reduce its speed or come to astop. In some embodiments, the remedial action may include changing aheading direction of the host vehicle. For example, the remedial actionmay include a steering action for host vehicle to avoid a collision withthe target vehicle.

In some embodiments, process 4900 may include a step 4950 fordetermining whether the target vehicle is approaching a road featurethat negates the potential turn-across-path event. For example,processing unit 110 may determine that, based on an identified roadfeature, that the target vehicle will avoid the potentialturn-across-path event.

In some embodiments, this may be determined based on the images receivedfrom the camera. For example, processing unit 110 may further beconfigured to analyze the one or more images to determine a presence ofa road feature that will cause a path of the oncoming vehicle to notoverlap with a planned trajectory of the host vehicle. The road featuremay include, for example, a road edge, a lane marking, a structure ofthe road, or similar features. In some embodiments, the road feature maybe detected based on other objects or indications within the environmentof the host vehicle. For example, detection of the road feature may bebased on the presence of a sign depicting a road curve, a turn lane,etc. Various other signs may also be detected, such as a stop sign, ayield sign, a do not enter sign, a traffic signal, or the like.Detection of the presence of one or more such signs may be indicative ofa corresponding road feature.

In some embodiments, the determination in step 4950 may be based on aroad navigation model associated with the environment of the hostvehicle. For example, processing unit 110 may access a sparse map, asdiscussed above, or another form of map or road navigation model.Accordingly, process 4900 may further include determining, from a storedmap, a lane of travel of the oncoming target vehicle and determining,from the stored map, a target trajectory associated with the lane oftravel of the oncoming target vehicle. For example, the targettrajectory may include a bend associated with a road such that thetarget trajectory of the oncoming target vehicle's lane of travel doesnot overlap with the planned trajectory of the host vehicle.

In some embodiments, the determination in step 4950 may be based on adriving jurisdiction associated with the environment of the hostvehicle. For example, as discussed above with respect to FIGS. 47 and 48, processing unit 110 may determine that, based on the drivingjurisdiction, the turn-across-path event may not be associated with avalid driving path of the target vehicle in the jurisdiction.Accordingly, process 4900 may further include determining a location ofthe host vehicle and determining whether the location of the hostvehicle is a left lane or a right lane driving jurisdiction. Forexample, the location of the host vehicle may be based on a GPSlocation, etc. and the processing unit 110 may determine a country orother territory associated with the location. In some embodiments,processing unit 110 may determine whether the location of the hostvehicle is a left lane or right lane jurisdiction based on a storedvalue (e.g., based on a setting, based on a previously determineddriving jurisdiction, etc.). Process 4900 may further includedetermining that the oncoming target vehicle is approaching a roadfeature that negates the potential turn-across-path event based on thedetermination that the location of the host vehicle may be a left-handedor a right-handed driving jurisdiction. In some embodiments, the turnacross path event may be associated with a right turn of the hostvehicle across the projected trajectory of the oncoming target vehicle,the oncoming target vehicle and the host vehicle may be located in aright lane driving jurisdiction, and the road feature may include aright hand bend or turn in the road. In other embodiments, the turnacross path event may be associated with a left turn of the host vehicleacross the projected trajectory of the oncoming target vehicle, theoncoming target vehicle and the host vehicle may be located in a leftlane driving jurisdiction, and the road feature may include a left handbend or turn in the road.

In some embodiments, the determination in step 4950 may be based on alane of travel of the target vehicle. Accordingly, process 4900 mayfurther include determining, based on analysis of at least two of theone or more images, a lane of travel of the target vehicle based onmotion of the target vehicle and determining, based on the motion, atarget trajectory associated with the lane of travel of the oncomingtarget vehicle. For example, processing unit 110 may compare the atleast two images to determine a direction of travel, a speed, or otherproperties of the target vehicle. The lane of travel may be determinedby analyzing the one or more images (e.g., detecting a lane marking, alane boundary, etc.), based on a road navigation model (e.g., a sparsemap, etc.) or various other methods. In some embodiments, the targettrajectory may include a bend associated with a road such that thetarget trajectory of the oncoming target vehicle's lane of travel doesnot overlap with the planned trajectory of the host vehicle.

At step 4960, process 4900 may include implementing the remedial actionif the oncoming target vehicle is determined to be not approaching aroad feature that negates the potential turn-across-path event. Forexample, based on the analysis in step 4960, processing unit may notidentify any features in the road that would reduce the probability ofan impact between the host vehicle and the target vehicle based on theturn-across-path event. Accordingly, the host vehicle may stop, reduceits speed, perform a steering action, etc.

At step 4970, process 4900 may include foregoing the remedial action forthe host vehicle in response to the oncoming target vehicle and thepotential turn-across-path event if the oncoming target vehicle isdetermined to be approaching a road feature that negates the potentialturn-across-path event. For example, at step 4950, processing unit 110may determine that there is a reduced risk of impact (or entry into asafety envelope, etc.) between the host vehicle and the target vehicleassociated with the turn-across-path event. As discussed above, thedetermination may be based on a navigational model or map, a drivingjurisdiction, images captured by the camera, etc. For example,processing unit 110 may determine that, based on the drivingjurisdiction, the target vehicle is expected to follow a bend in theroad which would negate the potential turn-across-path event. In someembodiments, foregoing the remedial action for the host vehicle mayinclude forgoing application of brakes of the host vehicle, maintaininga current heading direction of the host vehicle, etc. In someembodiments, process 4900 may include determining and/or taking analternate remedial action. Such alternate actions may include reducing aspeed of the host vehicle, monitoring the target vehicle to verify itnavigates in a manner that negates the turn-across-path event, or thelike.

The foregoing description has been presented for purposes ofillustration. It is not exhaustive and is not limited to the preciseforms or embodiments disclosed. Modifications and adaptations will beapparent to those skilled in the art from consideration of thespecification and practice of the disclosed embodiments. Additionally,although aspects of the disclosed embodiments are described as beingstored in memory, one skilled in the art will appreciate that theseaspects can also be stored on other types of computer readable media,such as secondary storage devices, for example, hard disks or CD ROM, orother forms of RAM or ROM, USB media, DVD, Blu-ray, 4K Ultra HD Blu-ray,or other optical drive media.

Computer programs based on the written description and disclosed methodsare within the skill of an experienced developer. The various programsor program modules can be created using any of the techniques known toone skilled in the art or can be designed in connection with existingsoftware. For example, program sections or program modules can bedesigned in or by means of .Net Framework, .Net Compact Framework (andrelated languages, such as Visual Basic, C, etc.), Java, C++,Objective-C, HTML, HTML/AJAX combinations, XML, or HTML with includedJava applets.

Moreover, while illustrative embodiments have been described herein, thescope of any and all embodiments having equivalent elements,modifications, omissions, combinations (e.g., of aspects across variousembodiments), adaptations and/or alterations as would be appreciated bythose skilled in the art based on the present disclosure. Thelimitations in the claims are to be interpreted broadly based on thelanguage employed in the claims and not limited to examples described inthe present specification or during the prosecution of the application.The examples are to be construed as non-exclusive. Furthermore, thesteps of the disclosed methods may be modified in any manner, includingby reordering steps and/or inserting or deleting steps. It is intended,therefore, that the specification and examples be considered asillustrative only.

1-26. (canceled)
 27. A navigation system for a host vehicle, thenavigation system comprising: at least one processor comprisingcircuitry and a memory, wherein the memory includes instructions thatwhen executed by the circuitry cause the at least one processing deviceto: receive one or more images captured by a camera, the one or moreimages being representative of an environment of the host vehicle;identify, based on analysis of the one or more images, an oncomingtarget vehicle in the environment of the host vehicle, wherein theoncoming target vehicle is associated with a projected trajectory of theoncoming target vehicle extending ahead of a current location of theoncoming target vehicle, the projected trajectory being indicated by atleast one aspect of a representation of the oncoming target vehicle inthe one or more images; determine that a planned trajectory for the hostvehicle includes a turn that crosses the projected trajectory of theoncoming target vehicle at a turn-across-path location and is indicativeof a potential turn-across-path event; determine, based on a location ofthe host vehicle, a driving jurisdiction associated with the road, thedriving jurisdiction being either a right-hand driving jurisdiction or aleft-hand driving jurisdiction; determine, based on the drivingjurisdiction, whether the target vehicle is approaching a road featurethat negates the potential turn-across-path event, the road featurebeing detected in the one or more images; if the oncoming target vehicleis determined to be not approaching a road feature that negates thepotential turn-across-path event, implement a remedial action in thehost vehicle; and if the oncoming target vehicle is determined to beapproaching a road feature that negates the potential turn-across-pathevent, forego implementing a remedial action associated with thepotential turn-across-path event in determining a navigational actionfor the host vehicle.
 28. The navigation system of claim 27, wherein thedriving jurisdiction is further determined based on a stored value. 29.The navigation system of claim 28, wherein the stored value includes atleast one of a setting or a previously determined driving jurisdiction.30. The navigation system of claim 27, wherein the driving jurisdictionis a right-hand driving jurisdiction, the turn-across-path event isassociated with a right turn of the host vehicle across the projectedtrajectory of the oncoming target vehicle, and the road feature is aright-hand curve in the road.
 31. The navigation system of claim 27, thedriving jurisdiction is a left-hand driving jurisdiction, theturn-across-path event is associated with a left turn of the hostvehicle across the projected trajectory of the oncoming target vehicle,and the road feature is a left-hand curve in the road.
 32. Thenavigation system of claim 27, wherein the at least one processor isfurther configured to: analyze the one or more images to determine apresence of the road feature that will cause a path of the oncomingvehicle to not overlap with a planned trajectory of the host vehicle.33. The navigation system of claim 32, wherein the road feature includesa road edge.
 34. The navigation system of claim 32, wherein the roadfeature includes a lane marking.
 35. The navigation system of claim 32,wherein the road feature includes a structure of a road detected in theone or images.
 36. The navigation system of claim 32, wherein the roadfeature includes a sign depicting a road curve.
 37. The navigationsystem of claim 27, wherein the at least one processor is furtherconfigured to: determine, based on analysis of at least two of the oneor more images, a lane of travel of the oncoming vehicle based on amotion of the oncoming target vehicle; and determine, based on themotion, a target trajectory associated with the lane of travel of theoncoming target vehicle, wherein the target trajectory includes a bendassociated with a road such that the target trajectory of the oncomingtarget vehicle's lane of travel does not overlap with the plannedtrajectory of the host vehicle.
 38. The navigation system of claim 27,wherein the at least one processor is further configured to determinethe planned trajectory of the host vehicle based on analysis of the oneor more images to determine free space associated with a road.
 39. Thenavigation system of claim 27, wherein the at least one processor isfurther configured to determine the planned trajectory of the hostvehicle based on a heading direction of the host vehicle for apredetermined distance ahead of the host vehicle.
 40. The navigationsystem of claim 27, wherein the at least one processor is furtherconfigured to determine the planned trajectory of the host vehicle basedon a stored spline associated with a map.
 41. The navigation system ofclaim 27, wherein the at least one processor is further configured todetermine a heading direction of the oncoming target vehicle based onanalysis of the one or more images.
 42. The navigation system of claim27, wherein foregoing the remedial action for the host vehicle includesforgoing application of brakes of the host vehicle.
 43. The navigationsystem of claim 27, wherein the remedial action includes at least one ofbraking of the host vehicle or changing a heading direction of the hostvehicle.
 44. The navigation system of claim 27, wherein the at least oneprocessor is further configured to: determine, from a stored map, a laneof travel of the oncoming target vehicle; and determine, from the storedmap, a target trajectory associated with the lane of travel of theoncoming target vehicle, wherein the target trajectory includes a bendassociated with a road such that the target trajectory of the oncomingtarget vehicle's lane of travel does not overlap with the plannedtrajectory of the host vehicle.
 45. A method for navigating a hostvehicle, the method comprising: receiving one or more images captured bya camera, the one or more images being representative of an environmentof the host vehicle; identifying, based on analysis of the one or moreimages, an oncoming target vehicle in the environment of the hostvehicle, wherein the oncoming target vehicle is associated with aprojected trajectory of the oncoming target vehicle extending ahead of acurrent location of the oncoming target vehicle, the projectedtrajectory being indicated by at least one aspect of a representation ofthe oncoming target vehicle in the one or more images; determining thata planned trajectory for the host vehicle includes a turn that crossesthe projected trajectory of the oncoming target vehicle at aturn-across-path location and is indicative of a potentialturn-across-path event; determining, based on a location of the hostvehicle, a driving jurisdiction associated with the road, the drivingjurisdiction being either a right-hand driving jurisdiction or aleft-hand driving jurisdiction; determining, based on the drivingjurisdiction, whether the target vehicle is approaching a road featurethat negates the potential turn-across-path event, the road featurebeing detected in the one or more images; if the oncoming target vehicleis determined to be not approaching a road feature that negates thepotential turn-across-path event, implementing a remedial action in thehost vehicle; and if the oncoming target vehicle is determined to beapproaching a road feature that negates the potential turn-across-pathevent, foregoing implementing a remedial action associated with thepotential turn-across-path event in determining a navigational actionfor the host vehicle.
 46. The method of claim 45, wherein the drivingjurisdiction is further determined based on a stored value.
 47. Themethod of claim 46, wherein the stored value includes at least one of asetting or a previously determined driving jurisdiction.
 48. The methodof claim 45, wherein the driving jurisdiction is a right-hand drivingjurisdiction, the turn-across-path event is associated with a right turnof the host vehicle across the projected trajectory of the oncomingtarget vehicle, and the road feature is a right-hand curve in the road.49. The method of claim 45, the driving jurisdiction is a left-handdriving jurisdiction, the turn-across-path event is associated with aleft turn of the host vehicle across the projected trajectory of theoncoming target vehicle, and the road feature is a left-hand curve inthe road.
 50. The method of claim 45, wherein the at least one processoris further configured to: determine, based on analysis of at least twoof the one or more images, a lane of travel of the oncoming vehiclebased on a motion of the oncoming target vehicle; and determine, basedon the motion, a target trajectory associated with the lane of travel ofthe oncoming target vehicle, wherein the target trajectory includes abend associated with a road such that the target trajectory of theoncoming target vehicle's lane of travel does not overlap with theplanned trajectory of the host vehicle.
 51. A non-transitorycomputer-readable medium storing instructions for performing a methodfor navigating a host vehicle, the method comprising: receiving one ormore images captured by a camera, the one or more images beingrepresentative of an environment of the host vehicle; identifying, basedon analysis of the one or more images, an oncoming target vehicle in theenvironment of the host vehicle, wherein the oncoming target vehicle isassociated with a projected trajectory of the oncoming target vehicleextending ahead of a current location of the oncoming target vehicle,the projected trajectory being indicated by at least one aspect of arepresentation of the oncoming target vehicle in the one or more images;determining that a planned trajectory for the host vehicle includes aturn that crosses the projected trajectory of the oncoming targetvehicle at a turn-across-path location and is indicative of a potentialturn-across-path event; determining, based on a location of the hostvehicle, a driving jurisdiction associated with the road, the drivingjurisdiction being either a right-hand driving jurisdiction or aleft-hand driving jurisdiction; determining, based on the drivingjurisdiction, whether the target vehicle is approaching a road featurethat negates the potential turn-across-path event, the road featurebeing detected in the one or more images; if the oncoming target vehicleis determined to be not approaching a road feature that negates thepotential turn-across-path event, implementing a remedial action in thehost vehicle; and if the oncoming target vehicle is determined to beapproaching a road feature that negates the potential turn-across-pathevent, foregoing implementing a remedial action associated with thepotential turn-across-path event in determining a navigational actionfor the host vehicle.
 52. The non-transitory computer-readable medium ofclaim 51, wherein the driving jurisdiction is further determined basedon a stored value.
 53. The non-transitory computer-readable medium ofclaim 52, wherein the stored value includes at least one of a setting ora previously determined driving jurisdiction.
 54. The non-transitorycomputer-readable medium of claim 51, wherein the driving jurisdictionis a right-hand driving jurisdiction, the turn-across-path event isassociated with a right turn of the host vehicle across the projectedtrajectory of the oncoming target vehicle, and the road feature is aright-hand curve in the road.
 55. The non-transitory computer-readablemedium of claim 51, the driving jurisdiction is a left-hand drivingjurisdiction, the turn-across-path event is associated with a left turnof the host vehicle across the projected trajectory of the oncomingtarget vehicle, and the road feature is a left-hand curve in the road.56. The non-transitory computer-readable medium of claim 51, wherein theat least one processor is further configured to: determine, based onanalysis of at least two of the one or more images, a lane of travel ofthe oncoming vehicle based on a motion of the oncoming target vehicle;and determine, based on the motion, a target trajectory associated withthe lane of travel of the oncoming target vehicle, wherein the targettrajectory includes a bend associated with a road such that the targettrajectory of the oncoming target vehicle's lane of travel does notoverlap with the planned trajectory of the host vehicle.